{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/54476"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/54476","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Laser Range Finder Mapping of Floating Vehicle","abstract":"Using laser range finders as a method of navigation is popular with mobile land robots; however, there has been little research using it with water vehicles. Therefore, this thesis explores the usage and data flow of a laser range finder on a water raft. A unique algorithm for localization and mapping for the sensor is developed and tested both in simulation and in realtime with a vehicle. Both the localization of the vehicle and mapping of its environment are able to achieve precise locations, deviating only a few millimeters of their expected values. With this algorithm, a closed-loop control system is also developed and implemented on the vehicle. The vehicle is able to move to a predefined location and be within a very small range of acceptable values. The control loop is further explored with damping, gain variations, and different trajectories..","abstract_html":"Using laser range finders as a method of navigation is popular with mobile land robots; however, there has been little research using it with water vehicles. Therefore, this thesis explores the usage and data flow of a laser range finder on a water raft. A unique algorithm for localization and mapping for the sensor is developed and tested both in simulation and in realtime with a vehicle. Both the localization of the vehicle and mapping of its environment are able to achieve precise locations, deviating only a few millimeters of their expected values. With this algorithm, a closed-loop control system is also developed and implemented on the vehicle. The vehicle is able to move to a predefined location and be within a very small range of acceptable values. The control loop is further explored with damping, gain variations, and different trajectories..","abstract_has_math":false,"creators":["Hui, Corinna"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Franz S. Hover."],"committee_chairs":[],"committee_members":[],"year":2009,"date_issued":"2009","date_published":"2009","updated_at":"2026-07-22T22:22:26Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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