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2D Mapping Solutionsfor Low Cost Mobile Robot
KTH, School of Computer Science and Communication (CSC).
2013 (English)Independent thesis Basic level (degree of Bachelor), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Mapping, localization, and path-planning are three fundamental problems of robotic.

Robot needs a map to perform actions like path-planning. When positioning system is

not available, the map is also used for localization. A lot of researches have been done

in this area. And newly emerging ranging sensors, like Kinect and TOF camera, have

widen people’s choices and greatly enhanced innovative ideas in robot mapping. The

price of these sensors is not very high and the performance is decent, which makes low

cost, high performance mobile robot solution possible.

In this thesis, different existing state of the art mapping methods are studied. Based on

literature studies, different ranging sensors for mapping are evaluated. And by using the

3D ranging sensor, three mapping methods are implemented. Occupancy grid map with

scan matching, feature-grid hybrid map with map pruning and simple points map with

ICP algorithm. Basic potential field path-planning is also implemented.

The experiment results illustrate the performance of each method.

Place, publisher, year, edition, pages
Trita-CSC-E, ISSN 1653-5715 ; 13:125
National Category
Computer Science
URN: urn:nbn:se:kth:diva-138427OAI: diva2:680998
Educational program
Master of Science in Engineering - Computer Science and Technology
Available from: 2013-12-19 Created: 2013-12-19 Last updated: 2013-12-19Bibliographically approved

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