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Moving Horizon Estimation SLAM for agile vehicles in 3-D environments
Publication . Sousa, Daniel Matias de; Guerreiro, Bruno
The ability for a robot to be able to construct a map of the environment and recognize its position on it was one of the biggest developments in robotics. It gives them the possibility of being autonomous and safe, while creating new deployment opportunities where they were previously not feasible nor skillful enough to operate. The Simultaneous Localization and Mapping framework builds onto the perception of the robot, giving it the possibility to online calculate its trajectory and avoid obstacles. Because of it, there is now a large range of scenarios where robots can be used, ranging from a ship on open waters to a ground vehicle on mars. Moreover, the continuous development of processing units has given the possibility for previously hardware exhausting solutions to be used as an option for the localization and mapping problem. With this in mind, the dissertation work is focused on developing a Simultaneous Localization and Mapping (SLAM) solution for a 6 Degrees of Freedom (DoF) vehicle operating on a 3D environment using Moving Horizon Estimation (MHE). Throughout the document it is presented relevant concepts to the modelling of 6 DoF vehicles as well as other approaches to the SLAM problem. It is also tested the applicability of the proposed solution, based on MHE, in a simulation environment of a 3D square-shaped corridor with stationary landmarks, whilst comparing the obtained results with other probabilistic approaches, the Extended Kalman Filter (EKF), which is commonly used but loses stability on extremely nonlinear dynamics, and the Linear Kalman Filter (LKF) sensor-based, which can also deal with the non-linearities of the system by characterizing it on the sensors frame. Each of the algorithms is simulated in MATLAB and their performance was compared considering two different Scenarios.
2023-06Dissertação de mestrado Acesso aberto Ver mais

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Fundação para a Ciência e a Tecnologia

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Concurso para Financiamento de Projetos de Investigação Científica e Desenvolvimento Tecnológico em Todos os Domínios Científicos - 2020

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PTDC/EEI-AUT/1732/2020

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