TENCON 2018 - 2018 IEEE Region 10 Conference, 2018
This paper presents a solution for Simultaneous localization and mapping (SLAM) with an autonomou... more This paper presents a solution for Simultaneous localization and mapping (SLAM) with an autonomous differential drive robot in an indoor environment. We extract data from sonars and analyze it to construct a map of the explored area using occupancy grid mapping. In addition, relative positioning approaches provide location using an inertial measurement unit (IMU) and wheel encoders. Localization and mapping are essential tasks for an autonomous robot's navigation or exploration without a prior map and the system is based on discrete step-wise or event modeling which guides its navigation. The system’s result is compared for accuracy against an actual map. The results show that the approach is largely accurate although the resolution of the map produced could be improved.
At first, I would like to thank Almighty Allah for giving me perseverance and mental ability for ... more At first, I would like to thank Almighty Allah for giving me perseverance and mental ability for the successful completion of this project and paper. I would also like to express my gratitude and thank Prof. Dr. Adnan Kiber, my supervisor for my internship, who has helped me develop the idea and design, and improve on all aspects of the task at hand. He is certainly an inspiring character to work with and get encouragement from. I look forward to working with him in the future.
TENCON 2018 - 2018 IEEE Region 10 Conference, 2018
This paper presents a solution for Simultaneous localization and mapping (SLAM) with an autonomou... more This paper presents a solution for Simultaneous localization and mapping (SLAM) with an autonomous differential drive robot in an indoor environment. We extract data from sonars and analyze it to construct a map of the explored area using occupancy grid mapping. In addition, relative positioning approaches provide location using an inertial measurement unit (IMU) and wheel encoders. Localization and mapping are essential tasks for an autonomous robot's navigation or exploration without a prior map and the system is based on discrete step-wise or event modeling which guides its navigation. The system’s result is compared for accuracy against an actual map. The results show that the approach is largely accurate although the resolution of the map produced could be improved.
At first, I would like to thank Almighty Allah for giving me perseverance and mental ability for ... more At first, I would like to thank Almighty Allah for giving me perseverance and mental ability for the successful completion of this project and paper. I would also like to express my gratitude and thank Prof. Dr. Adnan Kiber, my supervisor for my internship, who has helped me develop the idea and design, and improve on all aspects of the task at hand. He is certainly an inspiring character to work with and get encouragement from. I look forward to working with him in the future.
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Papers by Nafis Rafat