alextmeyer
commented
10 years ago Plan on using C++ using ROS (Linux layer), possibly OpenCV if we find it is necessary
Open alextmeyer opened 10 years ago
alextmeyer
commented
10 years ago Plan on using C++ using ROS (Linux layer), possibly OpenCV if we find it is necessary
Description: Autonomous navigation and exploration with SLAM (Simultaneous Localization and Mapping) to get both robot path and map of the environment using only data gathered by the sensors. Must deal with sensor error. Map will become correlated with robot position estimate. Reduce uncertainty by observing features whose location is relatively well known (landmarks observed before), this is called loop closure detection and when loop closure is detected the robot pose uncertainty shrinks and map is updated. Needs to completely explore environment. Provide some sort of human-understandable output. Obstacle Avoidance (don't make assumptions about previously explored areas, etc.)
Person Responsible: Whole team
Dependencies: NA
Fit Criterion: Fully explore and map environment
Supporting Materials: Opportunities and challenges with Autonomous Micro Aerial Vehicles, Intro to Autonomous Mobile Robotics, http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5980357, http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225146