Map construction and localization using Lego Mindstorms NXT

• Autorzy: Singh J. , Bedi P.
• Języki publikacji: EN

Abstrakty

EN

Maps are very useful for understanding unknown places before visiting them as maps represent spatial relationships between various objects in a region. Using robots for map construction is an important field these days as robots can reach places which may be inaccessible to human beings. This paper presents a method to use the data obtained from a single ultrasonic sensor mounted on a robot, to construct a map and localize the robot within that map. Map of the previously unknown environment is created with the help of a mobile robot, built using Lego Mindstorms NXT assembled in a modified TriBot configuration. The robot is equipped with an ultrasonic sensor and is controlled from a computer system running a MATLAB program, which communicates with the NXT over a USB or Bluetooth connection and performs complex calculations that are not possible for the NXT itself. After the map construction, the robot finds its position in the map by using a particle filter. Implementation has been done in MATLAB programming environment using RWTH – Mindstorms NXT Toolbox and has been successfully tested for map construction of a room and localization within that room with the use of a TriBot.

Słowa kluczowe

EN

LEGO Mindstorms NXT; TriBot; ultrasonic sensor; map construction; localization; particle filter; MATLAB; mobile robot; RWTH – Mindstorms NXT; toolbox

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 3
• Strony: 22--30
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Singh J.

• Department of Computer Science, Faculty of Mathematical Sciences, New Academic Block, University of Delhi, Delhi- 110007, India

autor

Bedi P.

• Department of Computer Science, Faculty of Mathematical Sciences, New Academic Block, University of Delhi, Delhi- 110007, India

Bibliografia

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