In order to localize itself within an environment as well as navigate through an environment a mobile robot must have some idea of the layout of the environment. One useful method for storing relative information concerning the layout of an environment is through a process known as cognitive mapping.
Richard Dagan defines cognitive mapping as a process composed of a series of psychological transformations by which an individual acquires, codes, stores, recalls, and decodes information about the relative locations and attributes of phenomena in their everyday spatial environment. In order to create such a cognitive map, it is important that the robot have the ability to sense the environment around it, as well as be able to extract useful information about the size, position, and orientation of features within the environment.
This thesis will discuss an easy method to derive 3-D information from an environment utilizing a 2-D sensor (the highly popular SICK laser scanner). In addition, methods for determining size, position, and orientation information about features in the environment will be discussed. Combining several 3-D laser scans for the generation of a cognitive map will be discussed. Finally, the results derived from testing the cognitive map for localization and navigation purposes will be discussed.
| Identifer | oai:union.ndltd.org:VANDERBILT/oai:VANDERBILTETD:etd-03312005-132116 |
| Date | 19 April 2005 |
| Creators | Gordon, Stephen Michael |
| Contributors | Dr. Kazuhiko Kawamura |
| Publisher | VANDERBILT |
| Source Sets | Vanderbilt University Theses |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.library.vanderbilt.edu/available/etd-03312005-132116/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Vanderbilt University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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