Robot Navigation Using Velocity Potential Fields and Particle Filters for Obstacle Avoidance
In this thesis, robot navigation using the Particle Filter based FastSLAM approach for obstacle avoidance derived from a modified Velocity Potential Field method was investigated. A switching controller was developed to deal with robot’s efficient turning direction when close to obstacles. The deter...
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| Language: | en |
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Université d'Ottawa / University of Ottawa
2015
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| Online Access: | http://hdl.handle.net/10393/32568 http://dx.doi.org/10.20381/ruor-4242 |