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Abstract: In this
dissertation, I describe two investigations involving the use of angle-of-arrival (AoA)
measurements to enable decentralized localization within a robot team. The first
investigation developed a new method for relative orientation estimation by modifying an
existing relative-position algorithm called alternating-normals iterative method (ANIM).
The second investigation was ... read morean experimental characterization of ANIM performance using
camera sensors. This was the first time that ANIM has been tested in hardware, as the
method has previously been implemented only in simulation. The major outcome of the
first investigation is that with orientation estimation, the position error produced by
the modified algorithm increased by a factor of two. The major outcome of the second
investigation is the justification of an error model for the camera sensor as a Gaussian
distribution of noise centered on the original AoA measurement with a standard deviation
of 0.4 ± 0.1 degrees.
Thesis (M.S.)--Tufts
University, 2016.
Submitted to the Dept. of
Mechanical Engineering.
Advisors: Jason Rife, and
Chris Rogers.
Committee: Ethan
Danahy.
Keywords: Mechanical engineering, and
Robotics.read less
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