Sonar-based real world mapping system.

dc.contributor.advisor	Petriu, E.,
dc.contributor.author	Normand, Louis-Paul.
dc.date.accessioned	2009-03-20T20:27:20Z
dc.date.available	2009-03-20T20:27:20Z
dc.date.created	1990
dc.date.issued	1990
dc.degree.level	Masters
dc.degree.name	M.A.Sc.
dc.description.abstract	Autonomous robot navigation is a complex processing task which can be broken down in several levels. These levels are Robot Control, Sensor Interpretation, Sensor Integration, Real-World Modelling, Navigation, Global Planning and Control. The work done in this thesis addresses the first four of these levels in order to generate an accurate environment model from sensory data. A real world mapping system was developed and implemented for a mobile platform evolving in an unstructured environment. The system uses sonars as the source of sensory data. A certainty-grid based mapping method is used to map and merge the sonar data onto a pixel representation. For the purpose of this research, a user-friendly application is used to provide a test platform and demonstrate the system capabilities.
dc.format.extent	160 p.
dc.identifier.citation	Source: Masters Abstracts International, Volume: 30-03, page: 0844.
dc.identifier.isbn	9780315600133
dc.identifier.uri	http://hdl.handle.net/10393/5949
dc.identifier.uri	http://dx.doi.org/10.20381/ruor-14615
dc.publisher	University of Ottawa (Canada)
dc.subject.classification	Engineering, Electronics and Electrical.
dc.title	Sonar-based real world mapping system.
dc.type	Thesis

Files

Now showing 1 - 1 of 1