thesis

Source code: ericperko/precision_navigation Thesis Latex source code: ericperko/cwru_ms_thesis Thesis PDF version: Precision Navigation for Indoor Mobile Robots Thesis Defense Slides: Precision Navigation for Indoor Mobile Robots Abstract: This thesis describes a precision navigation system for indoor mobile robots, developed to address deficiencies in the ROS navigation stack when used for precision navigation. It includes a precision localization subsystem, based on a planar laser scanner, wheel encoders, a gyroscope and an a priori map, and a precision path execution system made up of a steering algorithm, a trajectory generator and a simplistic path planner.