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
File Size
2048 KB
Degree Grantor
University of Nevada, Las Vegas
Permissions
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Repository Citation
Pattisam, Kalyan Chakravarthy, "Navigation system for a mobile robot incorporating trinocular vision for range imaging" (1998). UNLV Retrospective Theses & Dissertations. 847.
http://dx.doi.org/10.25669/40sl-zzd5
Rights
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