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Topological Mapping and Navigation in Real-World Environments
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| 자료유형 | 학위논문 |
|---|---|
| 서명/저자사항 | Topological Mapping and Navigation in Real-World Environments. |
| 개인저자 | Johnson, Collin Eugene. |
| 단체저자명 | University of Michigan. Computer Science & Engineering. |
| 발행사항 | [S.l.]: University of Michigan., 2018. |
| 발행사항 | Ann Arbor: ProQuest Dissertations & Theses, 2018. |
| 형태사항 | 164 p. |
| 기본자료 저록 | Dissertation Abstracts International 79-12B(E). Dissertation Abstract International |
| ISBN | 9780438125360 |
| 학위논문주기 | Thesis (Ph.D.)--University of Michigan, 2018. |
| 일반주기 |
Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B.
Adviser: Benjamin Kuipers. |
| 요약 | We introduce the Hierarchical Hybrid Spatial Semantic Hierarchy (H 2SSH), a hybrid topological-metric map representation. The H2SSH provides a more scalable representation of both small and large structures in the world than existing topological |
| 요약 | Constructing an H2SSH map of the environment requires understanding both its local and global structure. We present a place detection and classification algorithm to create a semantic map representation that parses the free space in the local en |
| 요약 | For navigation, we have integrated the H2SSH with Model Predictive Equilibrium Point Control (MPEPC) to provide safe and efficient motion planning for our robotic wheelchair, Vulcan. However, navigation in human environments entails more than sa |
| 일반주제명 | Computer science. Robotics. |
| 언어 | 영어 |
| 바로가기 | 
: 이 자료의 원문은 한국교육학술정보원에서 제공합니다. |
