The objective of this master's thesis is to determine the position of a mobile robot during motion within a familiar environment by means of the particle filter algorithm and odometry, and with the help of distance measurements.
To do so, we used the Starter Kit Package by Makeblock, which we upgraded with ultrasonic sensors and optical incremental encoders. On account of the physical limitations, sensitivity, definition, and environmental noise, there is an uncertainty factor to the mobile robot's meters, which inhibits the accuracy of the determined position.
This thesis describes the structure of the mobile robot and the technical specifications of its individual components. Laid out are the estimates of the distance measurements made by using the ultrasonic sensor. The measurements are presented by means of a histogram and normal distribution, and are evaluated by comparing the median value of the measured distance and the actual value with a wood or plastic obstacle. Also provided are the measurement of the optical incremental encoder's speed and its assessment.
The final part of this thesis presents mobile robot motion modelling on a plane, determined by cinematics and dynamics. The manner of determining the mobile robot's position, which is more difficult to determine due to being non-deterministic, is explained. Also described is the implementation of the particle filter algorithm in a familiar environment.
In conclusion, we also checked the functioning of the particle filter algorithm and odometry, describing their differences in terms of the measurements taken.
|
