In this thesis, a method to the solution of autonomous navigation problem of a robot
working in an outdoor application is sought. The robot will operate in unknown
terrain where there is no a priori map present, and the robot must localize itself while
simultaneously mapping the environment. This is known as Simultaneous
Localization and Mapping (SLAM) problem in the literature. The SLAM problem is
attempted to be solved by using the correlation between range data acquired at
different poses of the robot. A robot operating outdoors will traverse unstructured
terrain, therefore for localization, pitch, yaw and roll angles must also be taken into
account along with the (x,y,z) coordinates of the robot. The Iterative Closest Points
(ICP) algorithm is used to find this transformation between different poses of the
robot and find its location. In order to collect the range data, a system composing of a
laser range finder and an angular positioning system is used. During localization and
mapping, odometry data is fused with range data.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/2/12609191/index.pdf |
| Date | 01 December 2007 |
| Creators | Sezginalp, Emre |
| Contributors | Konukseven, Ilhan Erhan |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for METU campus |
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