An Improved Simultaneously Localization and Mapping Algorithm for Field Robots
Date Issued
2009
Date
2009
Author(s)
Li, Jhih-Wei
Abstract
In this thesis, we propose a robot system with SLAM (Simultaneously Local-zation and Mapping) applied to agricultural environment which does not need theuxiliary equipment. To adapt the characteristically monotone and diverse agricul-ural environment, this system uses a two-dimensional laser range nder to get thehree-dimensional information based on the improved SLAM algorithm we devel-ped. Such method can enhance the application xibility, as well as to reduce theystem construction cost. Moreover, this system includes the superior mechanism toupervise the sensor and behavior control part for robot to autonomously navigatend explore an unknown environment.n order to realize the system mentioned above, we implement a robot appro-riate for the agricultural environment as the system platform. This robot, whichs suitable in size, can overcome rugged topography. To progress spatial scanning,he two-dimensional laser range nder set up on the robot has a tilt to the ground.hile the robot moving, the continuous distance information of the environmentill be obtained at the same time. These obtained data will be transformed intooint cloud and divided into multi-layers. The points of each layer will be combinedo a "layer map" by particle lter. By the map from every layer, the robot''s posend environment state will be known. When the robot scanning the space, the mapill be separated into several sub-maps to avoid the clutter accumulating and to en-ance the localization and mapping results. Con rmed by experimental result, theystem can ignore the disturbance from the agricultural environment and solve theobot simultaneously localization and mapping problem. The SLAM experimental results demonstrate that the average errors of eld robot position is less than 35 cm;ery step takes 6:1 seconds. If the map has been constructed, the average error isess than 40 cm; every step takes 2:5 seconds. The result is feasible for agriculturalpplications.
Subjects
Field robot
SLAM
Autonomous navigation
Path planning
Type
thesis
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