Doctoral Dissertations
Abstract
"A novel robotic operating system (RSYS) has been developed, which will allow mobile robotics to operate in a wide variety of situations. In addition, improvements in mobile robotic navigation have been achieved through the use of a link-region mapping system. 111 The RSYS allows programs to be written separately, yet still be able to control the robot, and have access to sensor data. The unique features of the RSYS enables it to pass large amounts of sensor data between tasks, using very little processor time. The RSYS also permits tasks to process image data in a progressive manner, allowing the processor to focus its time on the most important parts of the image. This approach accommodates tasks which are particularly important for link-region mapping: determining the extent of the floor, identifying image markers, localizing the markers, and identifying the location of the robot. The image markers allow the robot to locate itself within a region, so the local occupancy map measurements are accurate. A global map is constructed by geometrically linking regions. The linked mapping structure is efficient for loop closures as well as for robotic navigation"--Abstract, page iii.
Advisor(s)
Kosbar, Kurt Louis
Committee Member(s)
Agarwal, Sanjeev, 1971-
Krishnamurthy, K.
Jagannathan, Sarangapani, 1965-
Stanek, Keith
Department(s)
Electrical and Computer Engineering
Degree Name
Ph. D. in Electrical Engineering
Publisher
University of Missouri--Rolla
Publication Date
Spring 2006
Pagination
ix, 97 pages; CD-ROM
Note about bibliography
Includes bibliographical references (pages 93-95).
Rights
© 2006 Dale Humbert Lord, All rights reserved.
Document Type
Dissertation - Restricted Access
File Type
text
Language
English
Subject Headings
Robots -- ProgrammingRobot visionRobots -- Design and construction
Thesis Number
T 9317
Print OCLC #
272403786
Recommended Citation
Lord, Dale Humbert, "Visual mobile robotic navigation and mapping" (2006). Doctoral Dissertations. 1760.
https://scholarsmine.mst.edu/doctoral_dissertations/1760
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Comments
Accompanying CD-ROM, available at Missouri S&T Library, contains the GNU C CODE of all the files which make the current RSYS system. The software was used on a Fedora Core 2 Linux system which was physically mounted inside the Nomadic Super Scout II--leaf 91.