8930

8275

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1392

سيزده،98ص.: مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

مهدي كشميري، حميدرضا تقي راد

4/3/93

حميدرضا ميردامادي، محمد دانش

مهندسي مكانيك

ID8275

Development and implementation of Fast SLAM in localization and mapping in mobile robots Soheil Gharatape s gharatape@me iut ac ir 2014 1 18 Department of Mechanical engineering Isfahan University of Technology Isfahan 84156 83111Degree M Sc Language FarsiSupervisors Dr Mehdi Keshmiri mehdik@cc iut ac ir Dr Hamidreza Taghirad taghirad@kntu ac irAbstractSimultaneous Localization and Mapping SLAM is the most important task in making a mobilerobots fully autonomous So far three general algorithms proposed to solve SLAM problem Thefirst proposed solution to the SLAM was founded based on Kalman Filter and eventuallyExtended Kalman Filter EKF SLAM To deal with deficiencies in EKF SLAM Fast SLAMwas introduced as the second solution to SLAM problems Fast SLAM uses particle filter insteadof Kalman filter iSAM is the third solution proposed as the solution to SLAM In this thesis a grid based 2D Fast SLAM algorithm was implemented in two wheeledlaboratory mobile robot fabricated in Dynamic and Robotic research center to develop an onlineSLAM platform for the robot Robot Operating System ROS platform was used to program thealgorithm ROS is an open source operating system recently developed for softwareimplementation in robotic system The fabricated mobile robot is equipped with a Laser RangeFinder LRF sensor for environment scanning two encoders attached to the wheels for wheelOdometery and an Inertia Measurement Unit IMU to measure the robot attitude motion Initially the online Fast SLAM algorithm was developed for uneven planar motion of the robot Moving on an uneven surface like a slope leaded to error in robot localization and consequentlyerror in mapping Using the IMU data in this thesis kinematic equations were adjusted for robotmotion on slopes The adjusted algorithm tested on a slope made for this test by wood The testresults showed a significant improvement in the algorithm accuracy KeywordsFast SLAM IMU Slope special odometry

مهدي كشميري، حميدرضا تقي راد

حميدرضا ميردامادي، محمد دانش