masterThesis
Sensor de escaneamento omnidirecional e mapeamento por janela deslizante
Fecha
2018-10-03Registro en:
DALMEDICO, Nicolas. Sensor de escaneamento omnidirecional e mapeamento por janela deslizante. 2018. 89 f. Dissertação (Mestrado em Engenharia Elétrica e Informática Industrial) - Universidade Tecnológica Federal do Paraná, Curitiba, 2018.
Autor
Dalmedico, Nicolas
Resumen
LIDAR sensors are commonly used in robotics to perform 2D mapping. Some projects go
beyond that and spin the sensor in front of the robot to build a point cloud with which it’s
possible to apply 3D mapping techniques. This work tries to improve upon this idea and create
a novel mapping strategy by rotating LIDAR for acquisition, scanning the environment and
building a surface that represents the mobile robot’s neighborhood with accuracy. A base
vertical grid in front of the robot is created to represent the acquired points (local map) and
this grid is used to build two elevation maps, one representing the floor (global map) and other
representing the ceiling. The resulting map is compatible with common SLAM and mapping
methods (occupation map). Several difficulties were faced when dealing with problems intrinsic
from the scanning strategy, as using movement compensation to tackle the low update frequency
inherent to LIDAR sensors. A prototype was developed to validate the mapping strategy.
Navigation experiments were carried out using the new mapping strategy and the results are
presented on this work.