Multi-SLAM for swarm application
Alongside an increasing adoption of autonomous robots in more fields, much research has gone into improving the effectiveness of Simultaneous Localization and Mapping (SLAM). Multi-SLAM is one example of such research. It is a specific application of Simultaneous Localization and Mapping (SLAM...
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| Format: | Final Year Project |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/163473 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Alongside an increasing adoption of autonomous robots in more fields, much research has
gone into improving the effectiveness of Simultaneous Localization and Mapping (SLAM).
Multi-SLAM is one example of such research. It is a specific application of Simultaneous
Localization and Mapping (SLAM) that carries out mapping with multiple robots and is
expected to have several advantages over SLAM. Some of this include faster mapping time
and eliminating a single point of failure in the mapping process. This report will hence explore
the implementation of Cartographer algorithm of multi-SLAM and discuss its benefits and
drawbacks. This is done by implementing Cartographer SLAM on a WaveShare Robot with a
LiDAR sensor and analyzing the mapping result on RViz. |
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