Pose Estimation With Low-Resolution Bearing-Only Sensors

Simple item page
dc.contributor.advisorMcLurkin, James D.
dc.creatorRykowski, Joshua B.
dc.date.accessioned2013-03-08T00:38:21Z
dc.date.available2013-03-08T00:38:21Z
dc.date.issued2012
dc.description.abstractPose estimation of neighboring robots is a key requirement for configuration control behaviors in multi-robot systems. Estimating pose is difficult without system constraints, it is even more challenging when using minimalistic sensing alongside limited bandwidth. Minimal sensing models are a well studied field in robotics and are relevant to our particular hardware platform, the r-one, which has sensors that only measure a low-resolution bearing to neighboring robots. These bearing-only sensors are simpler to design with and cheaper to deploy in large numbers. In this thesis, I focus on the r-one multi-robot system which is capable of coarsely measuring the bearing, but not the distance, to neighbors. These sensors have a angular resolution of only 22.5 degrees due to the construction of the infrared system. I develop a particle filter algorithm that allows the r-one robot to estimate the pose of a neighbor using the infrared communication system and odometry measurements. This algorithm relies on the fusion of a coarse bearing measurement and neighbor velocities and is optimized to use the smallest communications bandwidth possible. I tested this algorithm with a simulation to demonstrate its effectiveness across varying sensor setups, neighbor update periods, and number of particles.
dc.format.extent83 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoTHESIS COMP. SCI. 2012 RYKOWSKI
dc.identifier.citationRykowski, Joshua B.. "Pose Estimation With Low-Resolution Bearing-Only Sensors." (2012) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/70421">https://hdl.handle.net/1911/70421</a>.
dc.identifier.digitalRykowskiJen_US
dc.identifier.urihttps://hdl.handle.net/1911/70421
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectApplied sciences
dc.subjectComputer science
dc.titlePose Estimation With Low-Resolution Bearing-Only Sensors
dc.typeThesis
dc.type.materialText
thesis.degree.departmentComputer Science
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
RykowskiJ.pdf
Size:
4.97 MB
Format:
Adobe Portable Document Format
Download
Collections
Rice University Electronic Theses and Dissertations