1. Repositório Aberto da Universidade do Porto
2. FEUP - Faculdade de Engenharia
3. FEUP - Dissertação

Author(s):	Paulo Rúben Alves Silva
Title:	Optimal Wheelchair Multi-LiDAR Placement for Indoor SLAM
Issue Date:	2021-07-21
Description:	One of the most prevalent technologies used in modern robotics is Simultaneous Localization and Mapping or, SLAM. Modern SLAM technologies usually employ a number of different probabilistic mathematics to perform processes that enable modern robots to not only map an environment but, also, concurrently localize themselves within said environment. Existing open-source SLAM technologies not only range in the different probabilistic methods they employ to achieve their task but, also, by how well the task is achieved and by their computational requirements. Additionally, the positioning of the sensors in the robot also has a substantial effect on how well these technologies work. Therefore, this dissertation is dedicated to the comparison of existing open-source ROS implemented 2D SLAM technologies and in the maximization of the performance of said SLAM technologies by researching optimal sensor placement in a Intelligent Wheelchair context, using SLAM performance as a benchmark.
Subject:	Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering
Scientific areas:	Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
DOI:	10.34626/kdc7-y492
TID identifier:	202824390
URI:	https://hdl.handle.net/10216/135766
Document Type:	Dissertação
Rights:	openAccess
Appears in Collections:	FEUP - Dissertação

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