Laser scan matching for mobile robot localization

• Main Author: Karunagaran Giridharan.
• Other Authors: Wijerupage Sardha Wijesoma
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/18830
• Institution: Nanyang Technological University

This masters project deals with mobile robot localization - making the robot aware of its position with respect to its environment or the global frame. Odome - try from the robot does give us this position information directly, but it is always erroneous, with the errors also adding up over time. T...