A model of environment representation architecture for intelligent robot

العناوين الأخرى

نموذج لتمثيل هيكلية البيئة للروبوت الذكي

مقدم أطروحة جامعية

al-Duri, Musa Abd Allah Hamid

مشرف أطروحة جامعية

al-Shammari, Husayn Hadi Uwayyid

أعضاء اللجنة

al-Shaykh, Asim Abd al-Rahman
Ahmad, Mamun

الجامعة

جامعة الشرق الأوسط

الكلية

كلية تكنولوجيا المعلومات

القسم الأكاديمي

قسم علم الحاسوب

دولة الجامعة

الأردن

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2014

الملخص الإنجليزي

This thesis presents a model of Environment Representation Architecture for Intelligent Robot.

The model consists of a vehicle, an environment and landmarks.

The proposed method is based on using Simultaneous Localization and Mapping based on Artificial Neural Network, back propagation algorithm, to be trained on predefined datasets on some environment.

The Finding in this thesis dun Using Artificial Neural on the Simultaneous Localization and Mapping enhances the obtained maps of the robot.

Limitation of this thesis to test the proposed system, different maps with different datasets are required, however, these datasets, need expensive sensors, vehicles and GPS receivers to be built.

The Originality he contribution of this thesis, is the use of Artificial Neural Network Back Propagation algorithm on the Simultaneous Localization and Mapping algorithm to obtain enhanced results, enhanced maps and datasets obtained by the robot.

Using several methods of preparing data sets for the landmarks of an environment, SLAM was able to navigate and build its own map of landmarks based on them.

In this work, the benefitted from previous approaches to design an enhanced SLAM system, which is based on Artificial Neural Network.

However, by training this network on real dataset of environments, the proposed system was able to navigate an environment and build its own map accurately and without prerequisites.

التخصصات الرئيسية

تكنولوجيا المعلومات وعلم الحاسوب

عدد الصفحات

72

قائمة المحتويات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-693915