Kartiranje prostora z uporabo algoritma SLAM in avtonomna navigacija mobilnega robota v prostoru

diplomsko delo

Jakob Šafarič (Author), Darko Hercog (Mentor), Karl Gotlih (Mentor)

Abstract

V tem delu je predstavljen problem hkratne lokalizacije in kartiranja prostora, ki je pogost problem pri gibanji avtonomnih mobilnih robotov. Rešiti ga je potrebno vsakič ko želimo narediti avtonomnega mobilnega robota, ki bo operiral v neznanem prostoru, brez uporabe zunanje lokalizacije. Zaradi tega mora robot iz podatkov svojih senzorjev hkrati določiti trenutno lokacijo in risati zemljevid za potrebe kasnejše avtonomne navigacije. Izvedli smo eno izmed preprostejših rešitev z uporabo Razširjenega Kalmanovega filtra. Ta metoda je dovolj točna za kartiranje manjših prostorov, za večje prostore pa je potrebno uporabiti bolj točno metodo.

Keywords

mehatronika;mobilni roboti;lokalizacija;kartiranje;algoritmi;SLAM;Razširjen Kalmanov filter;avtonomna navigacija;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2016
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[J. Šafarič]
UDC:	004.896:007.52(043.2)
COBISS:	20144406
Views:	1315
Downloads:	129
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	MAPPING USING SLAM ALGORITHMS AND AUTONOMOUS NAVIGATION WITH MOBILE ROBOTS
Secondary abstract:	In this work the problem of simultaneous localization and mapping is presented. It is a common problem when constructing autonomous mobile robots. It has to be solved every time we want to build an autonomous mobile robot, which will operate in unknown space, without external localization. Because of this the robot must use its sensor readings to localize and create a map at the same time in order to use it later in autonomous navigation. We have used one of the simpler methods, which uses Extended Kalman filter. This method is accurate enough for small spaces, but a more accurate method has to be used in big spaces.
Secondary keywords:	mobile robots;mapping;SLAM algorithms;Extended Kalman filter;autonomous navigation;simultaneous lokalization;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages:	VII, 30, III f.
ID:	9162001