Dotación de la capacidad de localización y mapeo simultáneo indoor a un robot móvil terrestre usando sensores IMU y LIDAR sobre el Framework ROS
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Quinche Guerra, José Daniel | 2018
Mobile robotics offers a great opportunity to develop applications in various areas of life
everyday However, to be useful in most applications, you must have a
map of the environment on which to plan collision-free trajectories. This map allows not only
move in the surrounding space but identify the position of the robot based on the characteristics
of the environment.
In recent years a great variety of algorithms have been created for the realization of the SLAM with the
intention to give the ability to position a robot in an unknown environment while navigating
in it, resulting in techniques with very good results and with a low computational cost
that allow to be implemented in embedded systems such as reduced-board computers.
In this work we made use of the techniques of creating maps by probabilistic methods that
they are a great contribution to the solution of the SLAM problem and how was the creation of the
mobile platform through the integration of hardware and software components in particular
through the use of the ROS framework.
Even when it was not possible to integrate the inertial measurement unit or a WEB camera for the development
of odometry, other alternatives were explored that allowed the implementation and execution of
the experiments with the Gmapping and HectorSLAM methods covering the scope proposed for the
work.
LEER