Mapping of a partially known area using collaboration of two nao robots
Romero Salas, Sergio (2017)
2017
Industrial Engineering and Management
Teknisten tieteiden tiedekunta - Faculty of Engineering Sciences
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Hyväksymispäivämäärä
2017-10-04
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201709221948
https://urn.fi/URN:NBN:fi:tty-201709221948
Tiivistelmä
Localization and mapping of unknown areas is a key topic in nowadays human-oid robotics and all the application and services that this field of engineering may have in the future. Furthermore, collaboration always makes tasks easier and improve the productivity of processes.
Taking this into account, the aim of this master thesis is to develop an algorithm to make two humanoid robots work together to realize the mapping of a partially known area. For that purpose, NAO humanoid robots have been used and some land-marks that those robots are able to recognize. The location of the robots is acquired based on the relative position of some common landmarks whose situation in the envi-ronment is previously known and all the robots can detect. After the localization of the robots, they will locate other objects in the map, represented with landmarks as well, using the relative position with that landmarks and their own position in the map. Thus, all ro-bots will have the data of the location of all the robots and landmarks without the need of seeing them, using the information sharing. The code has been implemented in the programming language C++ and using the NAOqi API.
After the implementation of the program, some experiments have been carried out with two NAO robots in an indoor environment to measure the accuracy of the lo-cation of the robots as well as the unknown landmarks in the map. It has been studied the effect of some drivers as the number of known landmarks, the distance between them or the speed of the head movement in the accuracy and reliability of the mapping task.
Taking this into account, the aim of this master thesis is to develop an algorithm to make two humanoid robots work together to realize the mapping of a partially known area. For that purpose, NAO humanoid robots have been used and some land-marks that those robots are able to recognize. The location of the robots is acquired based on the relative position of some common landmarks whose situation in the envi-ronment is previously known and all the robots can detect. After the localization of the robots, they will locate other objects in the map, represented with landmarks as well, using the relative position with that landmarks and their own position in the map. Thus, all ro-bots will have the data of the location of all the robots and landmarks without the need of seeing them, using the information sharing. The code has been implemented in the programming language C++ and using the NAOqi API.
After the implementation of the program, some experiments have been carried out with two NAO robots in an indoor environment to measure the accuracy of the lo-cation of the robots as well as the unknown landmarks in the map. It has been studied the effect of some drivers as the number of known landmarks, the distance between them or the speed of the head movement in the accuracy and reliability of the mapping task.