声明
Abbreviations
CHAPTER 1 INTRODUCTION
1.1 Background
1.2 Literature Review
1.3 Problem Statement
1.4 Research Objectives
1.5 Research Significance and Contributions
1.6 Motivation
1.7 Structure of the Thesis
CHAPTER 2 THE PROPOSED HARDWARE AND SOFTWARE DESIGN AND DEVELOPMENT
2.1 The Autonomous Hardware System Architecture
2.1.1 Automation Sub-system
2.1.2 Microprocessor Arduino Mega 2560
2.1.3 Motor Driver (Motor Controller Shield for Arduino)
2.1.4 Servo Motor
2.1.5 Ultrasonic Sensor
2.1.6 Navigation Sub-system
2.1.7 RpLidar Sensor
2.1.8 The operating Principle of a Lidar Sensor
2.1.9 The Raspberry Pi 3 B Plus
2.1.10 Robotic platform
2.2 Software System Architecture
2.2.1 Movement Strategy of the Mapping Robot
CHAPTER 3 THE PROPOSED INITIALIZATION STEP USING DETECTED FEATURES AND THE MAPPING ALGORITHM
3.1 Scan Matching Approach
3.2 Hector Slam
3.2.1 Overall Structure of the proposed Algorithm
3.2.2 Local and Global Scan Matching Phases
3.2.3 Dynamic Environment Detection and Elimination
3. 3 Environment Representation
3.3.1 Indoor Navigation Environments
3.3.2 Known Versus Unknown
3.3.3 Structured Versus Unstructured
3.3.4 Static Versus Dynamic
CHAPTER 4 PROPOSED LOCALIZATION APPROACH
4.1 Robot Pose
4.2 The Bayes Filter
4.3 Particle filter
4.4 Motion Model
4.5 Sensor Model
4.6 Monte Carlo Localization Algorithm
4.6.1 Sampling
4.6.2 Monte Carlo Localization Algorithm
4.7 Localization in MATLAB Simulation
CHAPTER 5 EXPERIMENT AND THE RESULT
5.1 Experiments
5.2 Mapping Experiment Procedure
5.3 Mapping Results
5.3.1 Dataset Ⅰ
5.3.2 Dataset Ⅱ
5.3.3 Dataset Ⅲ
5.4 Localization Experiment Procedure
5.5 Localization Results
5.5.1 Dataset Ⅰ
5.5.1 Dataset Ⅱ
5.5.2 Dataset Ⅲ
5.6 MATLAB Localization Simulation Results
5.7 Result Assessment and Discussion
5.7.2 Map Representation Results Comparison Ⅱ
5.7.3 Map Representation Results Comparison Ⅲ
5.7.4 Localization Results Analysis
CHAPTER 6 CONCLUSION AND FUTURE WORK
6.1 Conclusion
6.2 Future Work
Appendix 1: Autonomous robot C++ Code
Appendix Ⅱ: Algorithm 1 Motion model
Appendix Ⅲ: Particle Filter Localization Algorithm
参考文献
攻读硕士学位期间取得的研究成果
致谢
答辩决议书
华南理工大学;
