A comparative study of five algorithms for processing ultrasonic arc maps

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buir.advisorBarshan, Billur
dc.contributor.authorKurt, Arda
dc.date.accessioned2016-07-01T11:04:23Z
dc.date.available2016-07-01T11:04:23Z
dc.date.issued2005
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionCataloged from PDF version of article.en_US
dc.description.abstractIn this work, one newly proposed and four existing algorithms for processing ultrasonic arc maps are compared for map-building purposes. These algorithms are the directional maximum, Bayesian update, morphological processing, voting and thresholding, and arc-transversal median algorithm. The newly proposed method (directional maximum) has a basic consideration of the general direction of the mapped surface. Through the processing of arc maps, each method aims at overcoming the intrinsic angular uncertainty of ultrasonic sensors in map building, as well as eliminating noise and cross-talk related misreadings. The algorithms are implemented in computer simulations with two distinct motion-planning schemes for ground coverage, wall following and Voronoi diagram tracing. As success criteria of the methods, mean absolute difference with the actual map/profile, fill ratio, and computational cost in terms of CPU time are utilized. The directional maximum method performed superior to the existing algorithms in mean absolute error, was satisfactory in fill ratio and performed second best in processing times. The results indicate various trade-offs in the choice of algorithms for arc-map processing.en_US
dc.description.degreeM.S.en_US
dc.description.statementofresponsibilityKurt, Ardaen_US
dc.format.extentx, 69 leavesen_US
dc.identifier.itemidBILKUTUPB092554
dc.identifier.urihttp://hdl.handle.net/11693/29738
dc.language.isoEnglishen_US
dc.publisherBilkent Universityen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectUltrasonic sensorsen_US
dc.subjectMap buildingen_US
dc.subjectArc mapsen_US
dc.subjectBayesian update schemeen_US
dc.subjectMorphological processingen_US
dc.subjectVoting and thresholdingen_US
dc.subjectArc-transversal median algorithmen_US
dc.subjectWall followingen_US
dc.subjectVoronoi diagramen_US
dc.subjectMotion planningen_US
dc.subjectMobile robotsen_US
dc.subject.lccGA105.3 .K87 2005en_US
dc.subject.lcshCartography.en_US
dc.titleA comparative study of five algorithms for processing ultrasonic arc mapsen_US
dc.typeThesisen_US

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