Positionering och kartuppbyggnad med avståndsmätande laser
ReglerteknikPositioneringKartuppbyggnadAvståndsmätande laserExtended kalmanfilterKalmanfilterReglerteknik
This master thesis includes a description of how a number of sensors are put together in a sensor platform. It also gives a description of how localization and mapping has been performed with data collected from the sensor platform. Localization is a prerequisite for most of the tasks that can be requested from an autonomous mobile robot. In many situations the GPS signal is not available and hence an additional localization system is required. One approach is to apply localization based on landmarks extracted from the robots surrounding. Using e.g. a scanning range finding laser landmarks can be extracted from the robots surrounding. Localization and mapping is performed with an extended kalman filter where the robots and the landmarks positions are represented as states. The positioning algorithm is finally tested in indoor environment using lines and line segments as landmarks. The landmarks are extracted from measurement data from the scanning range finding laser. This master thesis is a part of a larger project which purpose is to investigate the benefit of cooperation between several mobile robots.