{"id":{"repo_id":"ohiolink","oai_identifier":"oai:etd.ohiolink.edu:case1345513785"},"canonical_url":"https://search.dev.ndltd.org/etd/ohiolink/oai:etd.ohiolink.edu:case1345513785","repository":{"repo_id":"ohiolink","name":"OhioLINK","base_url":"https://etd.ohiolink.edu/acprod/odb_etd/ws/oai/oai"},"display":{"title":"Precision Navigation for Indoor Mobile Robots","abstract":"This thesis describes a precision navigation system for indoor mobile robots, developed to address deficiencies in the ROS navigation stack when used for precision navigation. It includes a precision localization subsystem, based on a planar laser scanner, wheel encoders, a gyroscope and an <em>a priori</em> map, and a precision path execution system made up of a steering algorithm, a trajectory generator and a simplistic path planner. A 3D octree costmap based on the OctoMap library was also developed for collision detection. Geometric parameterizations for path segments were developed for use by those components. The precision navigation system was evaluated using a physical robot, CWRU's HARLIE, as well as in a Gazebo simulation. This precision navigation system allowed HARLIE to precisely navigate indoors, following paths made up of straight lines, constant curvature arcs and spin-in-place segments with as little as just over three centimeters of RMS lateral offset error.","abstract_html":"This thesis describes a precision navigation system for indoor mobile robots, developed to address deficiencies in the ROS navigation stack when used for precision navigation. It includes a precision localization subsystem, based on a planar laser scanner, wheel encoders, a gyroscope and an &lt;em&gt;a priori&lt;/em&gt; map, and a precision path execution system made up of a steering algorithm, a trajectory generator and a simplistic path planner. A 3D octree costmap based on the OctoMap library was also developed for collision detection. Geometric parameterizations for path segments were developed for use by those components. The precision navigation system was evaluated using a physical robot, CWRU&#x27;s HARLIE, as well as in a Gazebo simulation. This precision navigation system allowed HARLIE to precisely navigate indoors, following paths made up of straight lines, constant curvature arcs and spin-in-place segments with as little as just over three centimeters of RMS lateral offset error.","abstract_has_math":false,"creators":["Perko, Eric Michael"],"institution":"Case Western Reserve University School of Graduate Studies","degree_name":"Master of Sciences","degree_level":"masters","degree_discipline":"EECS - Computer and Information Sciences","degree_department":null,"school":null,"contributors":["Newman, Wyatt"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-03-08","date_published":"2013-03-08","updated_at":"2026-07-24T03:35:52Z","subjects":["Robotics","Robots","precision navigation","mobile robot","ROS","localization","steering","trajectory generation","OctoMap"],"languages":["English"],"rights":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://rave.ohiolink.edu/etdc/view?acc_num=case1345513785","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Newman, Wyatt"]},{"key":"dc:creator","label":"Author","values":["Perko, Eric Michael"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-03-08"]},{"key":"dc:publisher","label":"Institution","values":["Case Western Reserve University School of Graduate Studies / OhioLINK"]},{"key":"dc:type","label":"Dc Type","values":["Electronic Thesis or Dissertation"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["EECS - Computer and Information Sciences"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Sciences"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Case Western Reserve University School of Graduate Studies"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Robots","precision navigation","mobile robot","ROS","localization","steering","trajectory generation","OctoMap"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["English"]},{"key":"dc:rights","label":"Dc Rights","values":["unrestricted","This thesis or dissertation is protected by copyright: all rights reserved. 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