On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation
The localization information is of paramount importance in several critical tasks such as path and mission planning and control, which are essential to achieve fully autonomous operation of mobile robots. Data association, use of multiple sensors, their fusion and effects of exteroceptive and propri...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Published: |
2008
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/3464 |
| _version_ | 1826127726317142016 |
|---|---|
| author | Perera Linthotage Dushantha Lochana |
| author2 | Martin David Adams |
| author_facet | Martin David Adams Perera Linthotage Dushantha Lochana |
| author_sort | Perera Linthotage Dushantha Lochana |
| collection | NTU |
| description | The localization information is of paramount importance in several critical tasks such as path and mission planning and control, which are essential to achieve fully autonomous operation of mobile robots. Data association, use of multiple sensors, their fusion and effects of exteroceptive and proprioceptive sensor biases are identified as major issues that affect the performance of robot localization and mapping in outdoor unstructured environments. The importance of these issues in localization and mapping of mobile robots in outdoor unstructured environments is investigated in depth both rigorously and comprehensively. |
| first_indexed | 2024-10-01T07:13:14Z |
| format | Thesis |
| id | ntu-10356/3464 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T07:13:14Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/34642023-07-04T16:56:04Z On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation Perera Linthotage Dushantha Lochana Martin David Adams Wijesoma Sardha Wijerupage School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering The localization information is of paramount importance in several critical tasks such as path and mission planning and control, which are essential to achieve fully autonomous operation of mobile robots. Data association, use of multiple sensors, their fusion and effects of exteroceptive and proprioceptive sensor biases are identified as major issues that affect the performance of robot localization and mapping in outdoor unstructured environments. The importance of these issues in localization and mapping of mobile robots in outdoor unstructured environments is investigated in depth both rigorously and comprehensively. DOCTOR OF PHILOSOPHY (EEE) 2008-09-17T09:30:36Z 2008-09-17T09:30:36Z 2007 2007 Thesis Perera, L. D. L. (2007). On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/3464 10.32657/10356/3464 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Perera Linthotage Dushantha Lochana On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| title | On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| title_full | On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| title_fullStr | On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| title_full_unstemmed | On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| title_short | On the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| title_sort | on the issues of localization and mapping in outdoor unstructured environments for mobile robot navigation |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering |
| url | https://hdl.handle.net/10356/3464 |
| work_keys_str_mv | AT pereralinthotagedushanthalochana ontheissuesoflocalizationandmappinginoutdoorunstructuredenvironmentsformobilerobotnavigation |