{"id":{"repo_id":"ottawa-retro","oai_identifier":"oai:ruor.uottawa.ca:10393/6843"},"canonical_url":"https://search.dev.ndltd.org/etd/ottawa-retro/oai:ruor.uottawa.ca:10393/6843","repository":{"repo_id":"ottawa-retro","name":"University of Ottawa","base_url":"https://ruor.uottawa.ca/server/oai/request"},"display":{"title":"Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method.","abstract":"The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. The work presented has been part of a continuous research done in the field of mobile robots. In that respect, a mobile robot platform with an onboard manipulation capability has been developed as an experimental platform for a multi-sensor system for teleautonomous applications in an unstructured environment. Different types of sensors have been provided to gather information about the environment: infrared (IR) range finders, vision, tactile, position. While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision).","abstract_html":"The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. The work presented has been part of a continuous research done in the field of mobile robots. In that respect, a mobile robot platform with an onboard manipulation capability has been developed as an experimental platform for a multi-sensor system for teleautonomous applications in an unstructured environment. Different types of sensors have been provided to gather information about the environment: infrared (IR) range finders, vision, tactile, position. While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision).","abstract_has_math":false,"creators":["Gal, Carol."],"institution":"University of Ottawa (Canada)","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":["Petriu, Emil,"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2009,"date_issued":"2009-03-23T14:15:25Z","date_published":"2009-03-23T14:15:25Z","updated_at":"2026-07-24T03:39:27Z","subjects":["Engineering, Electronics and Electrical."],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["Source: Masters Abstracts International, Volume: 34-02, page: 0829.","9780612004610","http://dx.doi.org/10.20381/ruor-11480"],"render_values":[{"text":"Source: Masters Abstracts International, Volume: 34-02, page: 0829.","href":null,"code":true},{"text":"9780612004610","href":null,"code":true},{"text":"http://dx.doi.org/10.20381/ruor-11480","href":"http://dx.doi.org/10.20381/ruor-11480","code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10393/6843","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Petriu, Emil,"]},{"key":"dc:creator","label":"Author","values":["Gal, Carol."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2009-03-23T14:15:25Z","1994"]},{"key":"dc:publisher","label":"Institution","values":["University of Ottawa (Canada)"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Electronics and Electrical."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["Source: Masters Abstracts International, Volume: 34-02, page: 0829.","9780612004610","http://hdl.handle.net/10393/6843","http://dx.doi.org/10.20381/ruor-11480"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. 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While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision)."]},{"key":"dc:format","label":"Dc Format","values":["130 p.","application/pdf"]},{"key":"dc:title","label":"Title","values":["Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method."]}]}],"canonical_facts":{"dc:contributor":["Petriu, Emil,"],"dc:creator":["Gal, Carol."],"dc:date":["2009-03-23T14:15:25Z","1994"],"dc:description":["The main topic of the thesis is the multi-sensor data fusion in the context of mobile robot navigation. 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While vision and tactile sensors were approached by other related work, this thesis is essentially aimed to solve the following problems: (1) Mobile robot navigation, in terms of electronic interface and computerized control with real-time range data acquisition for obstacle avoidance, using a GUI (Graphical User Interface); (2) Occupancy grid method implementation using Bayesian analysis for the case of an IR ranging sensor; (3) Unstructured environment mapping, in the context of multi-sensor data fusion of mobile robot views taken from different given positions; (4) Global map integration with other types of sensory information (vision)."],"dc:format":["130 p.","application/pdf"],"dc:identifier":["Source: Masters Abstracts International, Volume: 34-02, page: 0829.","9780612004610","http://hdl.handle.net/10393/6843","http://dx.doi.org/10.20381/ruor-11480"],"dc:publisher":["University of Ottawa (Canada)"],"dc:subject":["Engineering, Electronics and Electrical."],"dc:title":["Multi-sensor (IR) data fusion for mobile robot navigation using occupancy grid method."],"dc:type":["Thesis"]},"updated_at":"2026-07-24T03:39:27Z"}