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Title:KARTIRANJE PROSTORA Z UPORABO ALGORITMA SLAM IN AVTONOMNA NAVIGACIJA MOBILNEGA ROBOTA V PROSTORU
Authors:Šafarič, Jakob (Author)
Hercog, Darko (Mentor) More about this mentor... New window
Gotlih, Karl (Mentor) More about this mentor... New window
Files:.pdf UN_Safaric_Jakob_2016.pdf (1,67 MB)
 
Language:Slovenian
Work type:Bachelor thesis/paper (mb11)
Typology:2.11 - Undergraduate Thesis
Organization:FERI - Faculty of Electrical Engineering and Computer Science
Abstract:V tem delu je predstavljen problem hkratne lokalizacije in kartiranja prostora, ki je pogost problem pri gibanji avtonomnih mobilnih robotov. Rešiti ga je potrebno vsakič ko želimo narediti avtonomnega mobilnega robota, ki bo operiral v neznanem prostoru, brez uporabe zunanje lokalizacije. Zaradi tega mora robot iz podatkov svojih senzorjev hkrati določiti trenutno lokacijo in risati zemljevid za potrebe kasnejše avtonomne navigacije. Izvedli smo eno izmed preprostejših rešitev z uporabo Razširjenega Kalmanovega filtra. Ta metoda je dovolj točna za kartiranje manjših prostorov, za večje prostore pa je potrebno uporabiti bolj točno metodo.
Keywords:mobilni robot, SLAM, Razširjen Kalmanov filter, avtonomna navigacija
Year of publishing:2016
Publisher:[J. Šafarič]
Source:Maribor
UDC:004.896:007.52(043.2)
COBISS_ID:20144406 Link is opened in a new window
NUK URN:URN:SI:UM:DK:ZFX9IVLM
Views:729
Downloads:88
Metadata:XML RDF-CHPDL DC-XML DC-RDF
Categories:KTFMB - FERI
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Secondary language

Language:English
Title:MAPPING USING SLAM ALGORITHMS AND AUTONOMOUS NAVIGATION WITH MOBILE ROBOTS
Abstract:In this work the problem of simultaneous localization and mapping is presented. It is a common problem when constructing autonomous mobile robots. It has to be solved every time we want to build an autonomous mobile robot, which will operate in unknown space, without external localization. Because of this the robot must use its sensor readings to localize and create a map at the same time in order to use it later in autonomous navigation. We have used one of the simpler methods, which uses Extended Kalman filter. This method is accurate enough for small spaces, but a more accurate method has to be used in big spaces.
Keywords:mobile robot, SLAM, Extended Kalman filter, autonomous navigation


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