Mapping Mobile Robot With Slam Application

Mohd Hidayat, Shahabudian (2010) Mapping Mobile Robot With Slam Application. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

ultaneous localization and mapping (SLAM) is the problem that arise in the bile robot field where the mobile robot that is autonomous, capable to localize lf, provide data of the environment to the user and produce map. The current mercial mobile robot is equipped with the old technology for communication ich is using the serial cable to communicate with the notebook. Serial cable which imited range and also has a low transfer rate is not suitable to for a small scale ot that unable to carry the notebook during the data acquisition process. The sis also concentrates on how to develop the SLAM algorithm that can be perform h a custom made robot. This thesis is focus on the development of mobile robot also software which will be the base to develop the SLAM algorithm. The thesis l be divided in two sections which is hardware development and software elopment. Hardware development will be focused on the research of the behavior range sensor while they operate and also the serial communication between ebook and robot via Bluetooth. While the software development will focused on development of data acquisition software that collect data from sensors and also development of basic Kalman-filter algorithm which eliminate the noise from the sors. Based on the theory, the practical approach has been done by scanning the ironment by taking 50 samples to prove that the robot can provide the accurate a to produce the map.

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