Bc. Ján Labuda

Bachelor's thesis

Localization for legged robots

Localization for legged robots
Abstract:
Pre moderný vývoj robotov je nevyhnutná ich schopnosť lokalizovať sa v prostredí. Táto práca navrhuje zjednodušenú metódu založenú nad technikou lokalizácie robota, ktorá už bola implementovaná na kráčajucom robotovi k odhadu pozície v neznámom prostredí. Navrhli sme úpravy pre zjednodušenie implementácie a testovania, aby daný proces bolo možné pokryť v tejto práci.
Abstract:
The ability of a robot to localize itself in an environment is crucial for modern development. This thesis proposes a simplified method based on a technique that was already used on legged robots to estimate robot positions in an unknown environment without any prior knowledge about the given environment. We proposed adjustments that simplify the implementation and testing to make it viable for the …more
 

Keywords

robot positioning poziciovanie robota position estimation odhad pozície legged robots kráčajúci roboti iSAM2 optimization optimizácia GTSAM
 
Language used: English
Date on which the thesis was submitted / produced: 19. 5. 2022
Identifier: https://is.muni.cz/th/n9qjk/

Thesis defence

  • Date of defence: 28. 6. 2022
  • Supervisor: Mgr. Jan Koniarik
  • Reader: prof. Ing. Václav Přenosil, CSc.

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Institution archiving the thesis and making it accessible: Masarykova univerzita, Fakulta informatiky
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Masaryk University

Faculty of Informatics

Bachelor programme / field:
Informatics / Informatics

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