Avaliação de algoritmos de localização e mapeamento simultâneos aplicada a competição Robocup@home
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Data
2019-12-13
Autores
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Universidade Federal de Goiás
Resumo
The current monography deals with applications and evaluation of Simultaneous Localization
and Mapping approaches to assistants robots of Open Challenge Robocup@home
category in Latin American Robotics Competition. For this purpose, the Zordon robot
from the Pequi Mecânico robotics group of the Federal University of Goiás was used: an
automaton capable of moving on the floor of a house, detecting people, interacting with
them and manipulating objects. In this sense, was tried to evaluate if the vinySLAM
algorithm stands out against the current SLAM mapping approach used by Pequi Mecânico,
gmapping. Therefore a ground-truth trajectory was proposed, created from data collected
by sensors such as odometry, inertial measurement unit and LIDAR, moved by tele-guided
navigation commands in a house with bedrooms, living room and kitchen, simulating
the application of SLAM in a competition-compatible scene. For this, experiments were
carried out to demarcate the environment and execute searched algorithms within the
framework Robot Operating System. Computational complexity and algorithm performance
were considered to evaluate which one best fits the reality of the brazillian robot. That
work found out that the vinySLAM approach presented quantitative localization and
qualitative mapping results similar to gmapping, and in temporal complexity reached a
better outcome.
Descrição
Palavras-chave
Localização, Mapeamento, SLAM, Robocup@home, Robótica móvel, Gmapping, VinySLAM, Localization, Mapping, Mobile robotics
Citação
COSTA, Fellipe Adorno Claudino da. Avaliação de algoritmos de localização e mapeamento simultâneos aplicada a competição Robocup@home. 2019. 53 f. Trabalho de Conclusão de Curso (Graduação) - Escola de Engenharia Elétrica, Mêcanica e da Computação, Universidade Federal de Goiás, Goiânia, 2019.