Date of Award
12-2007
Document Type
Thesis
Degree Name
Master of Science (MS)
Legacy Department
Computer Engineering
Committee Chair/Advisor
Hoover, Adam W
Committee Member
Brooks , Richard R
Committee Member
Birchfield , Stanley T
Abstract
Two methods for improving odometry using a pan-tilt range-finding laser is considered. The first method is a one-dimensional model that uses the laser with a sliding platform. The laser is used to determine how far the platform has moved along a rail. The second method is a two-dimensional model that mounts the laser to a mobile robot. In this model, the laser is used to improve the odometry of the robot. Our results show that the one-dimensional model proves our basic geometry is correct, while the two-dimensional model improves the odometry, but does not completely correct it.
Recommended Citation
Epton, Thomas, "Odometry Correction of a Mobile Robot Using a Range-Finding Laser" (2007). All Theses. 248.
https://tigerprints.clemson.edu/all_theses/248