Lim, Wing Theng (2019) Navigation with simultaneous localization and mapping using KUKA Youbot : Simulational study. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)
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Abstract
The localization and mapping are two major tasks of a mobile robot such as the KUKA Youbot.The problem statement are exploration, mapping and path planning navigation.This report presents simulational study on SLAM using KUKA Youbot.The objectives of this project are to implement SLAM by proposing, implementing and evaluating the performance of the required exploration, sensing and navigation algorithms in a virtual platform.The method that used for exploration is wall follower with Hokuyo laser scanner as obstacle detection.The sensor that used in this project for mapping and localization is using the Hokuyo laser scanner sensor where it is mounted at the base of KUKA Youbot.The mapping and localization is built by using the data information from the Hokuyo laser scanner sensor and odometry of the robot. With data the information, the map can be generating by using Rviz.There are two experiments to be conducted for this project, experiment 1: simultaneous localization and mapping using Hokuyo laser scanner sensor and wall follower,experiment 2: navfn planner navigation tuning.In experiment 1, the result show the proposed method is good in dealing the spiral environment, followed by floor plan and zigzag environment.In experiment 2, the result show with cost neutral of 202,the cost factor needs to be about 0.2 to ensure the input values are spread evenly over the output range, 202 to 252. Lastly, it is concluded that all of the objectives of this project is successfully achieved after all of the experiments are completed.
| Item Type: | Final Year Project (Project Report) |
|---|---|
| Uncontrolled Keywords: | Robotics, Automated guided vehicle systems, Robots -- Control systems, Mappings (Mathematics) |
| Subjects: | T Technology > T Technology (General) T Technology > TS Manufactures |
| Divisions: | Library > Final Year Project > FKE |
| Depositing User: | F Haslinda Harun |
| Date Deposited: | 28 Feb 2020 08:18 |
| Last Modified: | 27 Feb 2025 05:12 |
| URI: | http://digitalcollection.utem.edu.my/id/eprint/24302 |
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