Scan matching based on hill climbing algorithm

The ability to simultaneously determine the location of robot while accurately map its unfamiliar surrounding is considered by many as essential key to make a robot truly autonomous. When a robot moves in an unknown environment, they have no absolute reference frame for its position, other than the...

وصف كامل

محفوظ في:
التفاصيل البيبلوغرافية
المؤلف الرئيسي: Ang, Jimmy
مؤلفون آخرون: Lau Wai Shing, Michael
التنسيق: Final Year Project
اللغة:English
منشور في: 2011
الموضوعات:
الوصول للمادة أونلاين:http://hdl.handle.net/10356/44963
الوسوم: إضافة وسم
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المؤسسة: Nanyang Technological University
اللغة: English
الوصف
الملخص:The ability to simultaneously determine the location of robot while accurately map its unfamiliar surrounding is considered by many as essential key to make a robot truly autonomous. When a robot moves in an unknown environment, they have no absolute reference frame for its position, other than the features detected by its sensor. This problem of localization and mapping is known as Simultaneous Localization and Mapping (SLAM). In most SLAM problem, we usually find that odometry, LIDAR are used in giving initial estimation to solve this localization and mapping problem. In this paper, we tried to find a solution for SLAM problem by substituting odometry with IMU (Inertial Measurement Unit). IMU is a device consists of gyroscope and accelerometer where it is able to give the estimation for change of orientation.