| Type of Document |
Master's Thesis |
| Author |
Fleming, Paul Aaron
|
| Author's Email Address |
paul.a.fleming@vanderbilt.edu |
| URN |
etd-07272005-114921 |
| Title |
Implementing A Robust 3-Dimensional Egocentric Navigation System |
| Degree |
Master of Science |
| Department |
Electrical Engineering |
| Advisory Committee |
| Advisor Name |
Title |
| Dr. Kawamura |
Committee Member |
| Dr. Wilkes |
Committee Member |
|
| Keywords |
- egocentric navigation
- robotic navigation
- egosphere
- sensory egosphere
- SES
- LES
|
| Date of Defense |
2005-07-21 |
| Availability |
unrestricted |
Abstract
Robot Navigation is a large component of current robotics research. In this paper, a method to implement the “go-to-goal” aspect of navigation is discussed. Specifically, I will first discuss a method called Egocentric Navigation, which was developed at Vanderbilt University’s Center for Intelligent Systems. Then improvements toward making the system more accurate and efficient will be proposed. Finally, the experimental and simulation results of this new Egocentric Navigational system follow. In total, this paper will lay out a complete system for implementation on a robot which will accomplish navigation to goal in a landmark-based “egocentric” manner.
|
| Files |
| Filename |
Size |
Approximate Download Time
(Hours:Minutes:Seconds)
|
| 28.8 Modem |
56K Modem |
ISDN (64 Kb) |
ISDN (128 Kb) |
Higher-speed Access |
| |
paulflemingthesis.pdf |
2.70 Mb |
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00:06:26 |
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