M.S. Thesis Defense: Jaymit Patel
Thursday, November 15, 2012
2:30 p.m. Room 1146 AVW Bldg.
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ANNOUNCEMENT: M.S. Thesis Defense
Name: Jaymit Patel
Professor Christopher C. Davis, Chair/Advisor
Professor Gilmer L. Blankenship
Professor Nuno Martins
Date/Time: Thursday November 15th, 2012/ 2:30pm
Location: Room 1146, AV Williams Building
Title: Implementation of Real-time Simultaneous Localizing and Mapping with Particle Filter
The goal of this thesis is to use Particle Filters to Simultaneously Localize a mobile robot in an unknown environment and produce an accurate Map. The theory behind Monte Carlo Localization and Occupancy Grid Maps is introduced and compared
with improvements to the Particle Filter such as the Shared Gridmaps and Variance Sampler. A Particle Filter algorithm is developed to use sonar measurements to create occupancy maps, and inertial sensors and wheel encoders to update robots odometry.
The algorithm is applied to a four-wheel robot in an indoor environment with hallways and is successful in creating detailed maps of the test location and accurate estimate of the robots state.