Award Date

1-1-1998

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

First Committee Member

Georg F. Mauer

Number of Pages

88

Abstract

This research focuses on the development of software for the navigation of a mobile robot. The software developed to control the robot uses sensory data obtained from ultra sound, infra red and tactile sensors, along with depth maps using trinocular vision. Robot navigation programs were written to navigate the robot and were tested in a simulated environment as well as the real world. Data from the various sensors was read and successfully utilized in the control of the robot motion. Software was developed to obtain the range and bearing of the closest obstacle in sight using the trinocular vision system. An operator supervised navigation system was also developed that enabled the navigation of the robot based on the inference from the camera images.

Keywords

Imaging; Incorporating; Mobile; Navigation; Range; Robot; Systems; Trinocular; Vision

Controlled Subject

Mechanical engineering; Electrical engineering

File Format

pdf

File Size

2048 KB

Degree Grantor

University of Nevada, Las Vegas

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