| Naslov: | Comparison and optimization of algorithms for simultaneous localization and mapping on a mobile robot : master's thesis |
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| Avtorji: | ID Rašl, Matic (Avtor)
ID Holobar, Aleš (Mentor) Več o mentorju... 
ID Pedrosa, Eurico Farinha (Komentor) |
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| Datoteke: |  MAG_Rasl_Matic_2023.pdf (2,64 MB)
MD5: F1F130F3C7D034886E9159AD6C0C684E
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| Jezik: | Angleški jezik |
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| Vrsta gradiva: | Magistrsko delo/naloga |
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| Tipologija: | 2.09 - Magistrsko delo |
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| Organizacija: | FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
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| Opis: | 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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| Ključne besede: | SLAM, optimization, mobile robot, evolutionary algorithm, simulation. |
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| Kraj izida: | Maribor |
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| Kraj izvedbe: | Maribor |
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| Založnik: | [M. Rašl] |
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| Leto izida: | 2023 |
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| Št. strani: | 1 spletni vir (1 datoteka PDF (XIII, 69 f.)) |
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| PID: | 20.500.12556/DKUM-85380 |
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| UDK: | 004.021:004.94(043.2) |
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| COBISS.SI-ID: | 171288835 |
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| Datum objave v DKUM: | 05.10.2023 |
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| Število ogledov: | 616 |
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| Število prenosov: | 55 |
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| Metapodatki: |    |
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| Področja: | KTFMB - FERI
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