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Title: Mobile robot navigation - Environment representation, positioning, and motion planning
Keywords: Mobile Robot, Environment Representation, Positioning, Sensor Fusion, Path Planning, Motion Planning
Issue Date: 26-Mar-2004
Citation: CUI YOUJING (2004-03-26). Mobile robot navigation - Environment representation, positioning, and motion planning. ScholarBank@NUS Repository.
Abstract: This thesis addresses some issues related to the three main research areas for mobile robots: map building, positioning, and path/motion planning. First, internal and external representations are proposed for navigating environments, and followed by the introduction of vector representations and hierarchical representations as examples. Secondly, three sensor fusion methods are presented for positioning: a tachometer aided INS (Inertial Navigation System) positioning system, an integrated positioning system using GPS (Global Positioning System) and INS, and a digital map aided GPS positioning system to solve the urban canyon problems associated with stand-alone GPS. Finally, research results are presented for path/motion planning: a modified potential field method to deal with the newly found goal-non-reachable problem, a set of novel potential functions to deal with dynamic motion planning, the behavior-based Instant-Goal-Driven method for local motion planning, and the hierarchical motion planning based on the proposed hierarchical and vector representations.
Appears in Collections:Ph.D Theses (Open)

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