Mobile robots are used for exploration and object manipulation in hazardous environments, but in many cases human presence is still required posing a risk to the health and safety of the human operator. In order to operate fully autonomously in a completely unknown environment a mobile robot is required to both create a map of its environment and localize itself; this is known as simultaneous localization and mapping (SLAM). SLAM is a very active area of robotics research but many robot platforms using this technique are relatively large and more sophisticated than the mobile robot featured in this work. This work proposes a small, low-cost mobile robot platform for the autonomous retrieval of an object in a completely unknown environment using OpenRatSLAM. The main contribution of this project will be the implementation of a SLAM algorithm used in conjunction with vision based object recognition on a Lego NXT mobile robot.


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    Titel :

    Autonomous robot retrieval system


    Beteiligte:
    Ahern, Samantha J. (Autor:in) / Carter, Jenny (Autor:in) / Wilson, Paul (Autor:in)


    Erscheinungsdatum :

    01.11.2015


    Format / Umfang :

    173096 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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