Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/44963
Title: Scan matching based on hill climbing algorithm
Authors: Ang, Jimmy
Keywords: DRNTU::Engineering::Mechanical engineering::Mechatronics
Issue Date: 2011
Abstract: The ability to simultaneously determine the location of robot while accurately map its unfamiliar surrounding is considered by many as essential key to make a robot truly autonomous. When a robot moves in an unknown environment, they have no absolute reference frame for its position, other than the features detected by its sensor. This problem of localization and mapping is known as Simultaneous Localization and Mapping (SLAM). In most SLAM problem, we usually find that odometry, LIDAR are used in giving initial estimation to solve this localization and mapping problem. In this paper, we tried to find a solution for SLAM problem by substituting odometry with IMU (Inertial Measurement Unit). IMU is a device consists of gyroscope and accelerometer where it is able to give the estimation for change of orientation.
URI: http://hdl.handle.net/10356/44963
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

Files in This Item:
File Description SizeFormat 
M028.pdf
  Restricted Access
2.75 MBAdobe PDFView/Open

Page view(s) 50

332
checked on Oct 25, 2020

Download(s) 50

13
checked on Oct 25, 2020

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.