| Title |
Savosios keturračio roboto lokalizacijos algoritmo kūrimas ir analizė / |
| Translation of Title |
Development and analysis of dead-reckoning localization algorithm for four-wheeled robot. |
| Authors |
Stirblys, Tomas |
| Full Text |
|
| Pages |
69 |
| Keywords [eng] |
sensor fusion ; own localization ; relative entropy filter |
| Abstract [eng] |
The main objective of this final project of master degree - to develop and experimentally test the four-wheeled robot’s own localization method using the encoder, an accelerometer and gyroscope measurements. Review part is to analyze alternative methods which are widely used in modern localization tasks. Both hardware and software solutions have been reviewed. Four-Wheeled robot's mathematical model and its Matlab - Simulink model was described in the methodological part. Next, algorithm, used to track the localization of the robot, is described. Robot’s mathematical model and created relative entropy filter are tested in experimental part of this project. |
| Dissertation Institution |
Kauno technologijos universitetas. |
| Type |
Master thesis |
| Language |
Lithuanian |
| Publication date |
2015 |
