Abstract:
If an autonomous mobile robot is to operate in an unknown environment, it must possess the ability to autonomously explore the environment while simultaneously learn the map representation of the environment and compute its absolute pose (position and orientation). This thesis in general attempts to answer the question of “where is the robot?” “What is around the robot?” and “how should the robot explore the environment to gain as much information about the environment as possible?” This report presents current and proposed integrated approaches that combine autonomous exploration with Simultaneous Localization and Mapping (SLAM).
SLAM is an approach that enables the robot builds a map of the environment and at the same time uses this map to compute its location. Due to the enormous amount of interests and works in this area in the last few years, there have now been robust solutions to this problem provided the environment is static and of limited size. However, these solutions are passive in the sense that they do not influence the motion of the robot and therefore are necessary to integrate with an autonomous exploration approach for autonomous operations.
Preliminary research presents a solution to SLAM problem in a static and small environment. It also illustrates one possible approach that combines SLAM and autonomous exploration. The proposed research presents the future work including sensors fusion SLAM, dynamic mapping, loop closing and autonomous exploration approach.
The Algorithms are implemented in real-time and experimented in both simulation and real-life realistic environments, where the robot is equipped with wheel encoders and laser range finders, and is to operate in an initially unknown environment.
About the Speaker:
Fredy Tungadi graduated from
Monash
University
with a degree in Computer Systems Engineering majoring in Computer Systems. Currently, He is pursuing his masters (converting to PhD) degree by research at the IRRC (Intelligent Robotics Research Centre), Department of Electrical and Computer Systems Engineering,
Monash
University
(
Australia
). His research interests are focused on Autonomous Indoor Navigation of Mobile Robots
