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ETD Abstract Container

Abstract Header

Machine Learning for Road Following by Autonomous Mobile Robots

Warren, Emily Amanda
http://rave.ohiolink.edu/etdc/view?acc_num=case1222357062

Abstract Details

2008, Master of Sciences (Engineering), Case Western Reserve University, EECS - Computer Engineering.
This thesis explores the use of machine learning in the context of autonomous mobile robots driving on roads, with the focus on improving the robot's internal map. Early chapters cover the mapping efforts of DEXTER, Team Case's entry in the 2007 DARPA Urban Challenge. Competent driving may include the use of a priori information, such as road maps, and online sensory information, including vehicle position and orientation estimates in absolute coordinates as well as error coordinates relative to a sensed road. An algorithm may select the best of these typically flawed sources, or more robustly, use all flawed sources to improve an uncertain world map, both globally in terms of registration corrections and locally in terms of improving knowledge of obscured roads. It is shown how unsupervised learning can be used to train recognition of sensor credibility in a manner applicable to optimal data fusion.
Wyatt Newman, PhD (Advisor)
M. Cenk Cavusoglu, PhD (Committee Member)
Francis Merat, PhD (Committee Member)
146 p.
Computer Science; Engineering; Robots
machine learning; autonomous robot; driving; Urban Challenge; sensor fusion; unsupervised learning; global map; road following

Recommended Citations

Citations

  • Warren, E. A. (2008). Machine Learning for Road Following by Autonomous Mobile Robots [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1222357062

    APA Style (7th edition)

  • Warren, Emily. Machine Learning for Road Following by Autonomous Mobile Robots. 2008. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1222357062.

    MLA Style (8th edition)

  • Warren, Emily. "Machine Learning for Road Following by Autonomous Mobile Robots." Master's thesis, Case Western Reserve University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1222357062

    Chicago Manual of Style (17th edition)

case1222357062
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© 2008, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.