Robot Navigation and Localization in Symmetrical Office Environment

MPhil Thesis Defence


Title: "Robot Navigation and Localization in Symmetrical Office Environment"

By

Mr. Yi-Lun Tang


Abstract

Robot navigation and localization is a fundamental problem in robotics. 
This thesis studies this problem for robots in environments that have many 
symmetric structures such as typical office environments in office 
buildings. While there have been many algorithms for robot navigation and 
localization, none of them seem to work well in these environments. In 
this thesis I propose a simple and intuitive algorithm for robots with 
wheels and two types of sensors: infrared sensors and a low resolution 
stereo camera. This algorithm is implemented and field-tested on 914 
PC-BOT, a commercial robot from WhiteBox Robotics.


Date:			Monday, 21 December 2009

Time:			10:00am – 12:00noon

Venue:			Room 3501
 			Lifts 25-26

Committee Members:	Prof. Fangzhen Lin (Supervisor)
 			Prof. Dit-Yan Yeung (Chairperson)
 			Dr. Pedro Sander


**** ALL are Welcome ****