Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim

Mini robots can be used in many applications such as in domestic, industrial or humanitarian fields. Typically, mini robot platforms are equipped with sparse and noisy sensors on board such as array of infrared sensors. In robotics, the ability to map the surrounding area and determine self-location...

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Main Author:	Mohamad Yatim, Norhidayah
Format:	Thesis
Language:	English
Published:	2018
Subjects:	Neural networks (Computer science)
Online Access:	https://ir.uitm.edu.my/id/eprint/82558/1/82558.pdf
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id	my-uitm-ir.82558
record_format	uketd_dc
spelling	my-uitm-ir.825582024-03-07T08:39:33Z Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim 2018 Mohamad Yatim, Norhidayah Neural networks (Computer science) Mini robots can be used in many applications such as in domestic, industrial or humanitarian fields. Typically, mini robot platforms are equipped with sparse and noisy sensors on board such as array of infrared sensors. In robotics, the ability to map the surrounding area and determine self-location is essential for a robot to be truly autonomous. This research aims to develop such capability known as Simultaneous Localization and Mapping (SLAM) algorithm for mini robots with array of infrared (IR) sensors. Existing methods had implemented either feature-based or occupancy grid map (OG) as map representation. In SLAM with feature-based map, prior knowledge of the environment is required to associate sensor measurements with the right features. OG map representation does not need for landmark identification but described occupancy of an area. In this research, to enable mini robots to operate in various environment, OG map with SLAM or grid-based SLAM algorithm was developed. Previous works in this domain had to assume for all walls in the environment are either parallel or perpendicular to each other. 2018 Thesis https://ir.uitm.edu.my/id/eprint/82558/ https://ir.uitm.edu.my/id/eprint/82558/1/82558.pdf text en public phd doctoral Universiti Teknologi MARA (UiTM) Faculty of Electrical Engineering Buniyamin, Norlida
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Buniyamin, Norlida
topic	Neural networks (Computer science)
spellingShingle	Neural networks (Computer science) Mohamad Yatim, Norhidayah Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim
description	Mini robots can be used in many applications such as in domestic, industrial or humanitarian fields. Typically, mini robot platforms are equipped with sparse and noisy sensors on board such as array of infrared sensors. In robotics, the ability to map the surrounding area and determine self-location is essential for a robot to be truly autonomous. This research aims to develop such capability known as Simultaneous Localization and Mapping (SLAM) algorithm for mini robots with array of infrared (IR) sensors. Existing methods had implemented either feature-based or occupancy grid map (OG) as map representation. In SLAM with feature-based map, prior knowledge of the environment is required to associate sensor measurements with the right features. OG map representation does not need for landmark identification but described occupancy of an area. In this research, to enable mini robots to operate in various environment, OG map with SLAM or grid-based SLAM algorithm was developed. Previous works in this domain had to assume for all walls in the environment are either parallel or perpendicular to each other.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Mohamad Yatim, Norhidayah
author_facet	Mohamad Yatim, Norhidayah
author_sort	Mohamad Yatim, Norhidayah
title	Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim
title_short	Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim
title_full	Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim
title_fullStr	Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim
title_full_unstemmed	Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim
title_sort	grid-based simultaneous localization and mapping using rao-blackwellized particle filter with neural network for mini robots / norhidayah mohamad yatim
granting_institution	Universiti Teknologi MARA (UiTM)
granting_department	Faculty of Electrical Engineering
publishDate	2018
url	https://ir.uitm.edu.my/id/eprint/82558/1/82558.pdf
_version_	1794191932059025408

Grid-based simultaneous localization and mapping using Rao-blackwellized particle filter with neural network for mini robots / Norhidayah Mohamad Yatim

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