A Study of Localization and Map Building Algorithms on a Real Robot

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Kiss Domokos
Department of Automation and Applied Informatics

The mobile robots are gaining more and more importance in industry and everyday life as well. Several tracking and navigation methods have been published in recent years, decades. But the traditional odometry methods, which are typically calculating the transition from the rotation of the wheels, cannot be applied, it becomes necessary to investigate other methods. My topic was to develop a mobile robotic platform for research, equipped with an omnidirectional drive, a laser range scanner, to be able to gain information about the environment.

In the first part of my paper I describe the design and development of the robotic platform, which will be capable of investigating the algorithms. I described in detail the characteristics of the omnidirectional driven robot, the possible structures and layouts of the wheels, then I described the chosen robotic platform. Then, I present the robot system design, will describe in detail the features of the individual system components, the design aspects, the challenges which are arisen during the design and development, and finally, the specific implementation steps. I describe the features of the sensors, which will be on the top of the robot.

In the second part of my paper, I describe more localization and mapping algorithms, present the implementation issues and challenges that I encountered with, and propose solutions to improve the algorithms at potential shortcomings.

The first examined localization algorithm is described by German researchers Gerhard Weiß, Wetzler Christopher, and Ewald von Puttkamer, which is based on the angle histogram, and calculates first the orientation, then the location with the help of the cross correlation function. The second one is from Kai Lingemann, Andreas Nüchter, Joachim Hertzberg and Hartmut Surmann, which is a feature based localization algorithm, which aims to be fast, and yet accurate.

My mapping algorithm is based on the work from Li Zhang és Bijoy K. Ghosh, which incrementally builds a line segment based map of the surrounding environment.


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