Binary Directional Marker Placement for Mobile Robot Localization
| dc.contributor.author | Allen, River | |
| dc.contributor.supervisor | Whitesides, Sue H. | |
| dc.contributor.supervisor | Cheng, Mantis Hoi Ming | |
| dc.date.accessioned | 2014-08-28T18:24:17Z | |
| dc.date.available | 2014-08-28T18:24:17Z | |
| dc.date.copyright | 2014 | en_US |
| dc.date.issued | 2014-08-28 | |
| dc.degree.department | Department of Computer Science | |
| dc.degree.level | Master of Science M.Sc. | en_US |
| dc.description.abstract | This thesis looks at the problem of optimally placing binary directional proximity markers to assist a robot as it navigates waypoints through an environment. A simple planar fiducial marker is developed to serve as the binary directional proximity marker. A scoring function is proposed for marker placement as well as a method for random generation of hallway maps. Several common metaheuristic algorithms are run to find optimal marker placements with respect to the scoring function for a number of randomly generated hallway maps. From these results, placements are then evaluated by physical experimentation on an iRobot Create equipped with relatively inexpensive webcams. | en_US |
| dc.description.scholarlevel | Graduate | en_US |
| dc.identifier.uri | http://hdl.handle.net/1828/5623 | |
| dc.language | English | eng |
| dc.language.iso | en | en_US |
| dc.rights.temp | Available to the World Wide Web | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by/2.5/ca/ | * |
| dc.subject | mobile robot | en_US |
| dc.subject | fiducial tag | en_US |
| dc.subject | localization | en_US |
| dc.subject | sensor network | en_US |
| dc.title | Binary Directional Marker Placement for Mobile Robot Localization | en_US |
| dc.type | Thesis | en_US |