Event

M.S. Thesis Defense: Jaymit Patel

Thursday, November 15, 2012
2:30 p.m.
Room 1146 AVW Bldg.
Maria Hoo
301 405 3681
mch@umd.edu

ANNOUNCEMENT: M.S. Thesis Defense

Name: Jaymit Patel

Committee:

Professor Christopher C. Davis, Chair/Advisor

Professor Gilmer L. Blankenship

Professor Nuno Martins

Date/Time: Thursday November 15th, 2012/ 2:30pm

Location: Room 1146, AV Williams Building

Title: Implementation of Real-time Simultaneous Localizing and Mapping with Particle Filter

Abstract:

The goal of this thesis is to use Particle Filters to Simultaneously Localize a mobile robot in an unknown environment and produce an accurate Map. The theory behind Monte Carlo Localization and Occupancy Grid Maps is introduced and compared

with improvements to the Particle Filter such as the Shared Gridmaps and Variance Sampler. A Particle Filter algorithm is developed to use sonar measurements to create occupancy maps, and inertial sensors and wheel encoders to update robot’s odometry.

The algorithm is applied to a four-wheel robot in an indoor environment with hallways and is successful in creating detailed maps of the test location and accurate estimate of the robot’s state.

Audience: Graduate  Faculty