Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/53147
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dc.contributor.authorPakha, Chrisma Nasirochman
dc.date.accessioned2013-05-30T04:07:44Z
dc.date.available2013-05-30T04:07:44Z
dc.date.copyright2013en_US
dc.date.issued2013
dc.identifier.urihttp://hdl.handle.net/10356/53147
dc.description.abstractThis Final Year Project was taken by the author during his final year as one of the requirement to obtain degree of Bachelor Engineering. This project aims to implement vision-based navigation algorithms in a hybrid 3D simulator for multiple agent systems based on UDK. The algorithms will then be integrated into a search and exploration modular of the simulator. This Simultaneous Localization and Mapping (SLAM) problem is also known as the Kidnapped Robot Problem, a situation where a robot is carried to an arbitrary location. The simulation environment used is the Unreal Engine developed by Epic Games. Although the Unreal Engine allows simulating the robot, there are certain holes that the Unreal Engine might not be able to fill, which are the Vision System and the localization and mapping algorithm. In this project, the author focuses on integrating the SLAM algorithm to the Unreal Engine using the Robot Operating System (ROS) which runs on Ubuntu. ROS provides hardware abstraction, device drivers, libraries, message-passing and many more that might be useful for building an application for the robot in the Simulator. Up until now, two SLAM algorithms were implemented into two different robots. The GMapping was implemented on Unmanned Ground Vehicle (UGV) and the PTAM was implemented on Unmanned Aerial Vehicle (UAV). Several maps were used for testing and each SLAM algorithm produces different output. In this report the framework used and how to implement them are provided. In the end, a discussion regarding the results and improvements for future works are presenteden_US
dc.format.extent95 p.en_US
dc.language.isoenen_US
dc.rightsNanyang Technological University
dc.subjectDRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Roboticsen_US
dc.titleImplementing vision-based navigation in a hybrid 3D virtual-reality UDK-based simulatoren_US
dc.typeFinal Year Project (FYP)en_US
dc.contributor.supervisorXie Lihuaen_US
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.description.degreeBachelor of Engineeringen_US
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Appears in Collections:EEE Student Reports (FYP/IA/PA/PI)
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