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Experimental study of simultaneous localization & mapping algorithms on the Turtlebot platform

Andrianakis Emmanouil

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Year 2020
Type of Item Diploma Work
Bibliographic Citation Emmanouil Andrianakis, "Experimental study of simultaneous localization & mapping algorithms on the Turtlebot platform", Diploma Work, School of Electrical and Computer Engineering, Technical University of Crete, Chania, Greece, 2020
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This work merges robotics and radio frequency identification (RFID) technologies, with the goal to enable precise RFID tag localization. A low-cost robotic platform was used to create a mobile robot equipped with multiple modules for RFID inventorying and enhanced perception of robot’s environment. Various modifications were performed on the robot, so it could support all the additional modules. Open source software was exploited for the creation of accurate maps and estimation of the robot’s pose. Prior art localization methods, based on optimization and particle filtering were exploited, using phase measurements of the RF signal. Implementation and experimental results showed mean location estimation error of 0.2 m and 0.04 m, for two dimensions and one dimension, respectively. Execution times suggest that for robot velocity of 10 cm/sec, the offered implementations were real time.

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