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dc.contributor.advisorYun, Xiaoping
dc.contributor.authorCalibo, Taylor K.
dc.dateJun-14
dc.date.accessioned2014-08-13T20:17:31Z
dc.date.available2014-08-13T20:17:31Z
dc.date.issued2014-06
dc.identifier.urihttp://hdl.handle.net/10945/42591
dc.description.abstractThe ability to recognize and navigate surrounding environments free from collision with obstacles has been at the forefront of mobile robotic applications since its inception. At the price of nearly one tenth of a laser range finder, the Xbox Kinect uses an infrared projector and camera to capture images of its environment in three dimensions. The objective of this thesis was to investigate if the Xbox Kinect can be utilized to detect thin or narrow obstacles that are often invisible to the P3-DX mobile robotic platform. We present an algorithm to process and analyze point cloud data from the Xbox Kinect sensor and transform it into a two-dimensional map of the surrounding environment for further use with the P3-DX. Obstacle avoidance scenarios were then performed using two separate algorithms: a narrow corridor following algorithm and a potential fields algorithm. The results demonstrate that in a structured testing environment, the Xbox Kinect can be used to detect and avoid narrow obstacles that are not immediately recognized by the onboard sonar array of the P3-DX.en_US
dc.description.urihttp://archive.org/details/obstacledetectio1094542591
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleObstacle detection and avoidance on a mobile robotic platform using active depth sensingen_US
dc.typeThesisen_US
dc.contributor.secondreaderStaples, Zac
dc.contributor.departmentElectrical and Computer Engineering
dc.subject.authorMobile Roboticsen_US
dc.subject.authorXbox Kinecten_US
dc.subject.authorObstacle Avoidanceen_US
dc.subject.authorP3-DXen_US
dc.subject.authorPotential Fieldsen_US
dc.subject.authorMATLABen_US
dc.description.serviceEnsign, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Electrical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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