Persistent autonomous exploration, mapping and localization

• Main Author: Mata, Roxana
• Other Authors: John Leonard.
• Format: Others
• Language: English
• Published: Massachusetts Institute of Technology 2018
• Subjects: Electrical Engineering and Computer Science.
• Online Access: http://hdl.handle.net/1721.1/113127

Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2017. === This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. === Cataloged from student-submitted PDF version of thesis. === Includes bibliographical references (pages 103-106). === In this thesis, we investigate methods for exploration, persistent autonomy, and simultaneous localization and mapping tasks for an autonomous mobile robot with battery constraints. First, we present modifications to baseline frontier exploration on an occupancy grid that makes the robot's frontier exploration more efficient. Second, we describe the new software structure and recovery behavior for an autonomous robot to navigate to its dock despite errors of uncertainty in its map. Third, we implemented a landmark-based topological mapping method using a state-of-the-art toolbox that maps the environment using visually unique tags to compare with metric mapping methods. Our analysis shows that the robot explores its environment more efficiently using our method than with previous frontier exploration methods, and that graph based mapping outperforms metric mapping against ground-truth accuracy tests. === by Roxana Mata. === M. Eng.