VGU RESEARCH REPOSITORY
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Title: | Approaches to solve kidnapped robot problem | Authors: | Le Thai An | Keywords: | Kidnapped robot;Wifi sensor model | Issue Date: | 2019 | Abstract: | Localization is a well studied problem in mobile robotics since the information about the robots pose is essential for many further applications, especially navigation. However, with the increasing demand on the robustness of navigation, in order to be used in industrial applications, this leads to the stricter requirements for robot localization system to not only solve tracking localization, but also rapidly converged global localization and the ability to detect robot kidnapped problem (KRP) incident. This thesis proposes an implementation of KRP localization system capable to detect KRP incident and assist global localization process of ROS navigation stack. Due to the ubiquitous of Wifi signals in indoor environment, the Wifi signals are chosen to be an additional sensor model used in the KRP localization system to enable mentioned capabilities. In this thesis, a literature review of related works is discussed to explain why Wifi sensor model is selected. Then, the mathematical foundation of the Wifi sensor model and how to integrate it with available ROS implementation are presented. Finally, an extensive evaluation of global localization and KRP detection task are conducted using the proposed Wifi sensor model. The result shows promising to apply this work into industrial applications. |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/1145 |
Appears in Collections: | Electrical Engineering and Information Technology (EEIT) |
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Approaches to solve kidnapped robot problem.pdf | 3.13 MB | Adobe PDF |
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