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Průběžná lokalizace a mapování pomocí mobilního robotu / Simultaneous Localization and Mapping Using Mobile Robot

This work presents an overview of the simultaneous localisation and mapping (SLAM) problem in the mobile robotics. The Extended Kalman filter (EKF) based algorithm for localisation and mapping is proposed. For EKF algorithm the models of the skid steering mobile robot and the laser scanner are presented. The EKF algortihm is feature based algorithm, therefore the method for the landmark position determination was developed. This segmentation method is based on the clustering of the Radon transform space. Proposed SLAM algorithm was tested with real data measured with UTAR mobile platform. Achievments of the work are summarized in the conclusion of the proposed work and possible improvements of the components are suggested.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:233442
Date January 2008
CreatorsNeužil, Tomáš
ContributorsŠolc, František
PublisherVysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/doctoralThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

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