ROBOT LOCALISATION & MAPPING: MAPPING & LIDAR By James Mead

Content  Project Overview  The Team  Simultaneous Localisation & Mapping (SLAM)  Hardware  Mapping  Conclusion  Questions

Project Overview  Environmental positioning, humans have it easy!  The use of sensors:  GPS  Wheel encoder  Accelerometer  Gyroscope  Infrared ranging sensor  Ultrasonic sensor  Fuse the data in software to create useable information about the robots environment

Project Breakdown  Divided into 3 major areas.  Mapping & LIDAR – myself  Kinect & data analysis – Scott Penley  Navigation & path planning – Ken Birbeck  Work together to combine all 3 aspects into one overall project.  Goal: Create a robot capable of Simultaneous Localisation and Mapping (SLAM).

What is SLAM?  2 aspects: Robot’s current position and the position of objects in the environment.  Chicken or egg (robot’s position or environment layout), which comes first?  My task: overcome this through the use of sensors and mathematical calculations.

The Hardware  Lynx Robot  IMU – Inertial measurement unit Used for determining pitch, roll, yaw and acceleration  Xbox Kinect  Fit-PC  Wheel encoders  LIDAR – Light Detection and Ranging (Laser Rangefinder) Returns highly accurate distance data of the environment  SLAM needs highly accurate sensors  no GPS or digital compass

A suitable LIDAR  Range  Speed  Accuracy (error tolerance)  Sweep angle, Weight, Dimensions, Power consumption & laser source.  Price! Hokuyo URG-04LX

Mapping  Metric mapping & Topological mapping  Grid Occupancy Mapping Map divided up into cells Robot’s position needs to be known accurately(X,Y, θ ) Object location converted from Polar to Cartesian Apply filters to reduce noise & correct errors

Conclusion  Familiarise with hardware  Fully understand the LIDAR  Develop a method for Mapping  Metric or Topological mapping  Incorporate the use of filters  Plot the data in software  Work as a team!  This project will not work without Scott or Ken  Any Questions?