Investigating Simultaneous Localization and Mapping for an Automated Guided Vehicle

Investigating Simultaneous Localization and Mapping for an Automated Guided Vehicle

The aim of the thesis is to apply simultaneous localization and mapping (SLAM) to automated guided vehicles (AGVs) in a Robot Operating System (ROS) environment. Different sensor setups are used and evaluated. The SLAM applications used is the open-source solution Cartographer as well as Intel'...

Full description

Bibliographic Details
Main Author: Manhed, Joar
Format: Others
Language:English
Published: Linköpings universitet, Reglerteknik 2019
Subjects:
SLAM
AGV
3D Camera
LIDAR
Google Cartographer
Robotics
Robotteknik och automation
Embedded Systems
Inbäddad systemteknik
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-163075
Description
Summary:The aim of the thesis is to apply simultaneous localization and mapping (SLAM) to automated guided vehicles (AGVs) in a Robot Operating System (ROS) environment. Different sensor setups are used and evaluated. The SLAM applications used is the open-source solution Cartographer as well as Intel's own commercial SLAM in their T265 tracking camera. The different sensor setups are evaluated based on how well the localization will give the exact pose of the AGV in comparison to another positioning system acting as ground truth. 

Similar Items