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Continuous localization in indoor shifting environment
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
2017 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen.

The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation.

It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation. 

Place, publisher, year, edition, pages
2017. , p. 35
Series
UPTEC F, ISSN 1401-5757 ; 17042
National Category
Robotics
Identifiers
URN: urn:nbn:se:uu:diva-326270OAI: oai:DiVA.org:uu-326270DiVA, id: diva2:1119708
External cooperation
Serendipity Ixora AB
Educational program
Master Programme in Engineering Physics
Presentation
2017-06-27, Ångströmslaboratoriet Sal 2001, 15:45 (Swedish)
Supervisors
Examiners
Available from: 2017-07-04 Created: 2017-07-04 Last updated: 2017-07-04Bibliographically approved

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Solid State Electronics
Robotics

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
  • en-GB
  • en-US
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Output format
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