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Global Localization and Mapping of a Two-Armed Robot with Omnidirectional Mecanum Wheels
Extended Kalman filtering (EKF)
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This thesis presents techniques for global localization and mapping of a mobile anthropomorphous two-armed robot (ATAR) with the KINECT sensor and Mecanum four-wheeled omnidirectional base. An EKF-based global localization of the mobile ATAR is presented by using several artificial landmarks with given positions and four encoders mounted on four-wheeled omnidirectional base. An EKF-based approach using SURF is proposed for global localization and mapping of the mobile ATAR based on partially unknown natural landmarks. To conduct required experimentation, this thesis constructs an experimental, mobile, anthropomorphous two-armed robotic system with two anthropomorphous dual arms, a SoPC-based controlled Mecanum four-wheeled omnidirectional base and a KINECT sensor. Several simulations and experimental results are conducted to show the accuracy and performance of both proposed methods. The proposed techniques might be of interests to professionals working in the field of intelligent robots.
|Appears in Collections:||電機工程學系所|
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