| Abstract [eng] |
Overview SLAM algorithm, laser distance scanner working principle, EKF and UKF filters in analytical part. EKF mathematical models are implemented for autonomous robot whit two-wheel drive and for laser distance scanner. EKF and UKF filters are compared. 2D robot positioning with EKF filter are modeled and simulated in MATALB and STM32 microcontroller with DSP library. MATLAB and STM32 are compared in speed test. Analyzing EKF filter working. Design and construct autonomous robot experimental equipment, Lidar testing equipment. Robot is integrated with STM32F407 microcontroller, Lidar sensor, stepper motors. Software is created for STM32F407 microcontroller using DMA, TIMER, DSP libraries. Robot positioning accuracy with EKF and without EKF are analyzed in experimental part. |
