A topological approach to online autonomous map building for mobile robot navigation
Thesis (M.Eng.)--Memorial University of Newfoundland, 2009. Engineering and Applied Science Includes bibliographical references (leaves 93-102) This thesis presents an online autonomous mobile robot exploration and navigation strategy. An appropriate environmental representation is an essential part...
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ftmemorialunivdc:oai:collections.mun.ca:theses4/34302 2023-05-15T17:23:33+02:00 A topological approach to online autonomous map building for mobile robot navigation Ferdaus, Syeda Nusrat, 1981- Memorial University of Newfoundland. Faculty of Engineering and Applied Science 2008 xii, 102 leaves : ill., maps Image/jpeg; Application/pdf http://collections.mun.ca/cdm/ref/collection/theses4/id/34302 Eng eng Electronic Theses and Dissertations (11.19 MB) -- http://collections.mun.ca/PDFs/theses/Ferdaus_SyedaNusrat.pdf a2981450 http://collections.mun.ca/cdm/ref/collection/theses4/id/34302 The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries Mobile robots Robots--Control systems Robots--Motion Topological spaces Text Electronic thesis or dissertation 2008 ftmemorialunivdc 2015-08-06T19:21:53Z Thesis (M.Eng.)--Memorial University of Newfoundland, 2009. Engineering and Applied Science Includes bibliographical references (leaves 93-102) This thesis presents an online autonomous mobile robot exploration and navigation strategy. An appropriate environmental representation is an essential part of an efficient navigation system. We choose a topological map representation, where the world is represented by a set of omnidirectional images captured at each node with edges joining the nodes. Topological maps are memory-efficient and enable fast and simple path planning towards a specified goal. Using a laser range finder and an omnidirectional camera, an online topological representation of the environment is developed; although the navigation process relies only on the omnidirectional camera. We choose to use an omnidirectional camera, because it gives a 360 horizontal field-of-view and offers other advantages, such as increased robustness to occlusion, rich information content, etc. A view classifier based on global image comparison technique is used in order to avoid the possibility of creating a node in the same or nearby location where another node was created in the topological map. -- A robot navigation system is presented which is based on visual information only. The visual homing mechanism is used to move the robot from one node to another in the topological map. Visual homing can be defined as the ability to return to a goal location by performing some kind of matching between the image taken while at the goal and the current view image. Path planning algorithm is implemented for successful vision-based navigation. All the experiments are done in an office environment using a Pioneer 3AT mobile robot. The topological map is built in real time on board the robot, thus making the system autonomous. Thesis Newfoundland studies University of Newfoundland Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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ftmemorialunivdc |
language |
English |
topic |
Mobile robots Robots--Control systems Robots--Motion Topological spaces |
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Mobile robots Robots--Control systems Robots--Motion Topological spaces Ferdaus, Syeda Nusrat, 1981- A topological approach to online autonomous map building for mobile robot navigation |
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Mobile robots Robots--Control systems Robots--Motion Topological spaces |
description |
Thesis (M.Eng.)--Memorial University of Newfoundland, 2009. Engineering and Applied Science Includes bibliographical references (leaves 93-102) This thesis presents an online autonomous mobile robot exploration and navigation strategy. An appropriate environmental representation is an essential part of an efficient navigation system. We choose a topological map representation, where the world is represented by a set of omnidirectional images captured at each node with edges joining the nodes. Topological maps are memory-efficient and enable fast and simple path planning towards a specified goal. Using a laser range finder and an omnidirectional camera, an online topological representation of the environment is developed; although the navigation process relies only on the omnidirectional camera. We choose to use an omnidirectional camera, because it gives a 360 horizontal field-of-view and offers other advantages, such as increased robustness to occlusion, rich information content, etc. A view classifier based on global image comparison technique is used in order to avoid the possibility of creating a node in the same or nearby location where another node was created in the topological map. -- A robot navigation system is presented which is based on visual information only. The visual homing mechanism is used to move the robot from one node to another in the topological map. Visual homing can be defined as the ability to return to a goal location by performing some kind of matching between the image taken while at the goal and the current view image. Path planning algorithm is implemented for successful vision-based navigation. All the experiments are done in an office environment using a Pioneer 3AT mobile robot. The topological map is built in real time on board the robot, thus making the system autonomous. |
author2 |
Memorial University of Newfoundland. Faculty of Engineering and Applied Science |
format |
Thesis |
author |
Ferdaus, Syeda Nusrat, 1981- |
author_facet |
Ferdaus, Syeda Nusrat, 1981- |
author_sort |
Ferdaus, Syeda Nusrat, 1981- |
title |
A topological approach to online autonomous map building for mobile robot navigation |
title_short |
A topological approach to online autonomous map building for mobile robot navigation |
title_full |
A topological approach to online autonomous map building for mobile robot navigation |
title_fullStr |
A topological approach to online autonomous map building for mobile robot navigation |
title_full_unstemmed |
A topological approach to online autonomous map building for mobile robot navigation |
title_sort |
topological approach to online autonomous map building for mobile robot navigation |
publishDate |
2008 |
url |
http://collections.mun.ca/cdm/ref/collection/theses4/id/34302 |
genre |
Newfoundland studies University of Newfoundland |
genre_facet |
Newfoundland studies University of Newfoundland |
op_source |
Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries |
op_relation |
Electronic Theses and Dissertations (11.19 MB) -- http://collections.mun.ca/PDFs/theses/Ferdaus_SyedaNusrat.pdf a2981450 http://collections.mun.ca/cdm/ref/collection/theses4/id/34302 |
op_rights |
The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. |
_version_ |
1766113227092000768 |