A model of environment representation architecture for intelligent robot
Other Title(s)
نموذج لتمثيل هيكلية البيئة للروبوت الذكي
Dissertant
Thesis advisor
al-Shammari, Husayn Hadi Uwayyid
Comitee Members
al-Shaykh, Asim Abd al-Rahman
Ahmad, Mamun
University
Middle East University
Faculty
Faculty of Information Technology
Department
Computer Science Department
University Country
Jordan
Degree
Master
Degree Date
2014
English Abstract
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.
Main Subjects
Information Technology and Computer Science
No. of Pages
72
Table of Contents
Table of contents.
Abstract.
Abstract in Arabic.
Chapter One : Introduction.
Chapter Two : Terminology.
Chapter Three : Literature review and related works.
Chapter Four : Proposed model for the environment representation architecture.
Chapter Five : The implementation of the proposed model.
Chapter Six : Conclusions and future work.
References.
American Psychological Association (APA)
al-Duri, Musa Abd Allah Hamid. (2014). A model of environment representation architecture for intelligent robot. (Master's theses Theses and Dissertations Master). Middle East University, Jordan
https://search.emarefa.net/detail/BIM-693915
Modern Language Association (MLA)
al-Duri, Musa Abd Allah Hamid. A model of environment representation architecture for intelligent robot. (Master's theses Theses and Dissertations Master). Middle East University. (2014).
https://search.emarefa.net/detail/BIM-693915
American Medical Association (AMA)
al-Duri, Musa Abd Allah Hamid. (2014). A model of environment representation architecture for intelligent robot. (Master's theses Theses and Dissertations Master). Middle East University, Jordan
https://search.emarefa.net/detail/BIM-693915
Language
English
Data Type
Arab Theses
Record ID
BIM-693915
