Exploring the effect of the wireless network on simultaneous localization and mapping
Date
2010
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Abstract
Simultaneous Localization and Mapping (SLAM) by robots is a difficult problem: n01sy odometry combined with noisy range sensor measurements lead to quick accumulation of error. \i\Then the robots need to communicate to each other or to a base station to share their maps, the problem is also compounded by wireless network issues. Most research to date ignores or oversimplifies the network model when simulating SLAM. This thesis uses network simulation to get more accurate communications description. Estimating map quality in SLAM research has been traditionally done subjectively by humans. This thesis tries to quantify the SLAM map quality. The main contribution of this research is to determine the effect of the wireless communication channel on map building by using realistic network simulations tied with SLAJVI. Another contribution is to suggest using Hausdorff distance as a map quality measure.
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Bibliography: p. 127-134
Some pages are in colour.
Some pages are in colour.
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Citation
Reentov, E. (2010). Exploring the effect of the wireless network on simultaneous localization and mapping (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/3497