Local neighborhood mapping method for autonomous mobile robot.
Author of thesis: Ing. Jan Bjelka
Acad. year: 2006/2007
Supervisor: doc. Ing. Stanislav Věchet, Ph.D.
Reviewer: The opponent will be displayed after his opinion is published.Abstract:
A fundamental competence of any mobile robot systems is the ability to self localization in an environment. For unknown environment there is need to combine localization with automatic building a map to facilitate the localization process. Combination of these properties is denoted as Simultaneous Localization and Mapping (SLAM). In this diploma thesis we focus on SLAM in indoors. In this paper some of successful mapping method states too. Paper discuss problems for autonomous mobile robots such as scanning the environment, odometry and building sensoric maps. Paper descriptions simulating tool for autonomous mobile robot simulating process.
Simultaneous localization and mapping, mobile robot, odometry, laser range finder, occupancy grid
Date of defence
Result of the defence
Defended (thesis was successfully defended)
Language of thesis
Engineering Computer Science and Automation
Composition of Committee
prof. Ing. Vladimír Vašek, CSc. (předseda)
prof. Dr.RNDr. Lubomír Smutný (místopředseda)
doc. Ing. Dagmar Janáčová, CSc. (člen)
doc. Ing. Lenka Landryová, CSc. (člen)
doc. Ing. Branislav Lacko, CSc. (člen)
doc. Ing. Ivan Švarc, CSc. (člen)
doc. Ing. Stanislav Věchet, Ph.D.
Ing. Pavel Houška, Ph.D.