Koval V. The methods and algorithms of mobile robot map building using sensor fusion techniques

Українська версія

Thesis for the degree of Candidate of Sciences (CSc)

State registration number

0405U000079

Thesis Registration Form

0405U000079.pdf

Applicant for

Specialization

  • 05.13.23 - Системи та засоби штучного інтелекту

07-12-2004

Specialized Academic Board

Д 35.813.01

Essay

This dissertation was devoted to improvement of existing and development of new methods for local area map building of mobile robot using sensor fusion techniques for mobile robots navigation in unstructured environment. In particular, three new methods of local area map building are offered using polar coordinate system and occupancy grid in 3D space. These methods are based on statistical and artificial neural network methods fusing of ultrasonic and infrared sensors, and also fusing of structured light and video camera.

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Files

DISER--dis1.doc

DISER--dis2.doc

DISER--dis2.doc

DISER--dis3.doc

DISER--dis4.doc

DISER--dis5_dodatky.pdf

aref.doc

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