Date of Award

Spring 2012

Degree Name

Bachelor of Science

Major

Engineering (Concentration: Electrical Engineering)

First Advisor

Dr. David J. Ahlgren

Abstract

A robot was built and programmed to implement a Simultaneous Localization and Mapping (SLAM) Algorithm. Traditional robotic mapping suffers from compounding sensor error, thus resulting in maps that become highly erroneous over time. SLAM combats this problem by taking a probabilistic approach to mapping. By combining odometry data with sensor measurements of surrounding landmarks through a Kalman Filter, the robot was able to accurately map its surrounding environment, and localize itself within that environment.

Comments

Senior thesis completed at Trinity College for the degree of Bachelor of Science in Engineering.

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