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Implementierung eines Navigations-Kalman-Filters für die mobile Robotik in Echtzeit

Müller, Rolf Hendrik (2004):
Implementierung eines Navigations-Kalman-Filters für die mobile Robotik in Echtzeit.
Darmstadt, Technische Universitaet Darmstadt, Fachbereich Informatik, Fachgebiet Simulation und Systemoptimierung & Institut für Automatisierungstechnik, Fachgebiet Regelungstheorie und Robotik, [Diploma Thesis or Magisterarbeit]

Abstract

In the course of several seminar papers and diploma theses, the mobile robot of the Control Theory and Robotics Laboratory was equipped with various navigational sensors. For the fusion of the sensor data a Kalman-Filter was developed. The most recent diploma thesis by Martin Kallnik Kallnik 2004 leads to a navigational program, that combines the results of previous investigations into a single software. This program Syncaria, was developed so that new sensors could be integrated easily. This diploma thesis deals with the implementation of a Kalman-Filter for Syncaria. First of all, the thesis developed by Inna Mikhailova Mikhailova 2002 is embedded into Syncaria. The implementation is a modular approach, in order to be capable to install further sensors into the Kalman-Filter easily. Besides odometry and gyroscope, the Kalman-Filter can finally process the data from ultrasonic sensors and ultrasonic based trilateration system LoPS. All necessary calculations on the robot run in real time.

Item Type: Diploma Thesis or Magisterarbeit
Erschienen: 2004
Creators: Müller, Rolf Hendrik
Title: Implementierung eines Navigations-Kalman-Filters für die mobile Robotik in Echtzeit
Language: German
Abstract:

In the course of several seminar papers and diploma theses, the mobile robot of the Control Theory and Robotics Laboratory was equipped with various navigational sensors. For the fusion of the sensor data a Kalman-Filter was developed. The most recent diploma thesis by Martin Kallnik Kallnik 2004 leads to a navigational program, that combines the results of previous investigations into a single software. This program Syncaria, was developed so that new sensors could be integrated easily. This diploma thesis deals with the implementation of a Kalman-Filter for Syncaria. First of all, the thesis developed by Inna Mikhailova Mikhailova 2002 is embedded into Syncaria. The implementation is a modular approach, in order to be capable to install further sensors into the Kalman-Filter easily. Besides odometry and gyroscope, the Kalman-Filter can finally process the data from ultrasonic sensors and ultrasonic based trilateration system LoPS. All necessary calculations on the robot run in real time.

Place of Publication: Darmstadt
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 26 Jun 2019 11:53
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