| Title: | Comparison and optimization of algorithms for simultaneous localization and mapping on a mobile robot : master's thesis |
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| Authors: | ID Rašl, Matic (Author)
ID Holobar, Aleš (Mentor) More about this mentor... 
ID Pedrosa, Eurico Farinha (Comentor) |
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| Files: |  MAG_Rasl_Matic_2023.pdf (2,64 MB)
MD5: F1F130F3C7D034886E9159AD6C0C684E
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| Language: | English |
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| Work type: | Master's thesis/paper |
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| Typology: | 2.09 - Master's Thesis |
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| Organization: | FERI - Faculty of Electrical Engineering and Computer Science
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| Abstract: | In this thesis, we compare and evaluate different SLAM solutions for a low-cost mobile robot. We present a simulator for the robot and use it to gather simulated data. Using this data, we then optimize the SLAM algorithms using an evolutionary algorithm. The optimized solutions are then validated and compared to default SLAM configurations. Up to 83 % reduction of error is achieved on validation data with multiple SLAM algorithms with improvements also visible on the real-world data. |
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| Keywords: | SLAM, optimization, mobile robot, evolutionary algorithm, simulation. |
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| Place of publishing: | Maribor |
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| Place of performance: | Maribor |
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| Publisher: | [M. Rašl] |
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| Year of publishing: | 2023 |
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| Number of pages: | 1 spletni vir (1 datoteka PDF (XIII, 69 f.)) |
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| PID: | 20.500.12556/DKUM-85380 |
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| UDC: | 004.021:004.94(043.2) |
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| COBISS.SI-ID: | 171288835 |
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| Publication date in DKUM: | 05.10.2023 |
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| Views: | 614 |
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| Downloads: | 55 |
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| Metadata: |    |
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| Categories: | KTFMB - FERI
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