liu.seSök publikationer i DiVA
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Implementation of SLAM Algorithms in a Small-Scale Vehicle Using Model-Based Development
Linköpings universitet, Institutionen för systemteknik, Datorteknik.
Linköpings universitet, Institutionen för systemteknik, Datorteknik.
2017 (Engelska)Självständigt arbete på avancerad nivå (masterexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)Alternativ titel
Implementation av SLAM-algoritmer i småskaligt fordon genom modellbaserad utveckling (Svenska)
Abstract [en]

As autonomous driving is rapidly becoming the next major challenge in the auto- motive industry, the problem of Simultaneous Localization And Mapping (SLAM) has never been more relevant than it is today. This thesis presents the idea of examining SLAM algorithms by implementing such an algorithm on a radio con- trolled car which has been fitted with sensors and microcontrollers. The software architecture of this small-scale vehicle is based on the Robot Operating System (ROS), an open-source framework designed to be used in robotic applications.

This thesis covers Extended Kalman Filter (EKF)-based SLAM, FastSLAM, and GraphSLAM, examining these algorithms in both theoretical investigations, simulations, and real-world experiments. The method used in this thesis is model- based development, meaning that a model of the vehicle is first implemented in order to be able to perform simulations using each algorithm. A decision of which algorithm to be implemented on the physical vehicle is then made backed up by these simulation results, as well as a theoretical investigation of each algorithm.

This thesis has resulted in a dynamic model of a small-scale vehicle which can be used for simulation of any ROS-compliant SLAM-algorithm, and this model has been simulated extensively in order to provide empirical evidence to define which SLAM algorithm is most suitable for this application. Out of the algo- rithms examined, FastSLAM was proven to the best candidate, and was in the final stage, through usage of the ROS package gMapping, successfully imple- mented on the small-scale vehicle.

Ort, förlag, år, upplaga, sidor
2017. , s. 93
Nyckelord [en]
SLAM, Robotics, Particle Filter, Bayes, Kalman Filter. Navigation, Localization, Mapping, ROS, Model-based development
Nyckelord [sv]
SLAM, Robotik, Partikelfilter, Bayes, Kalmanfilter, Navigering, Lokalisering, Kartläggning, ROS, Modellbaserad utveckling
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:liu:diva-148612ISRN: LiTH-ISY-EX--17/5101--SEOAI: oai:DiVA.org:liu-148612DiVA, id: diva2:1218791
Externt samarbete
ÅF Consult AB
Ämne / kurs
Examensarbete i Datorteknik
Presentation
2017-11-17, Linköping, 22:14 (Svenska)
Handledare
Examinatorer
Tillgänglig från: 2018-06-20 Skapad: 2018-06-14 Senast uppdaterad: 2018-06-20Bibliografiskt granskad

Open Access i DiVA

fulltext(7487 kB)532 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 7487 kBChecksumma SHA-512
dcbbd7f419c6413f28102f98558386924e1422f0368bd84f6261e2be20121d75bf2e1e1c2205516d1636cf63d8a5859e98b68d8bc40656faaa6cff1f5fe3d817
Typ fulltextMimetyp application/pdf

Sök vidare i DiVA

Av författaren/redaktören
Alexandersson, JohanNordin, Olle
Av organisationen
Datorteknik
Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 532 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 1011 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf