Feature-relative Real-time Obstacle Avoidance and Mapping
نویسندگان
چکیده
A substantial challenge in robotics is integration of complex software systems for realtime performance. This thesis integrates the robust and generic mapping framework Atlas, a feature-based local Simultaneous Localization and Mapping (SLAM) module, and obstacle avoidance using information from mapped features. The resulting system performs autonomous feature-relative Real-time Obstacle Avoidance and Mapping (ROAM) with laser or sonar range sensors, and results are shown for wide-beam sonar. This system will allow high-speed feature-relative obstacle and avoidance and navigation on mobile robots with wide-beam sonar and/or laser sensors. Thesis Supervisor: John J. Leonard Title: Associate Professor
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