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Title: Cooperative 3D Mapping and Localisation of Multiple Mobile Robots
Author: Ryde, Julian
ISNI:       0000 0001 3543 6494
Awarding Body: University of Essex
Current Institution: The University of Essex pre-October 2008
Date of Award: 2008
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Developing a coherent and unified approach to localisation and mapping is one of the prerequisites for fully establishing the mobile robotics era in the 21st century. Therefore, this research attempts to address this simultaneous localisation and mapping problem (SLAM) for both a single robot and cooperating multiple robots equipped.with 3D range sensors. To begin with various methods and hardware set-ups for allowing robots to reliably detect each other are explored and tested. Once robots have detected others the question of how their relative pose can be determined most accurately is investigated, especially in the case ·when two corresponding robots detect each other simultaneously. This situation, referred to as mutual localisation, results in reliable and accurate relative pose determination. The second aspect of this work develops hardware mechanisms for mobile robots to obtain 3D information about the environment around them. For robots to rapidly acquire 3D information of their surrounding spatial structure a conventional 2D laser range scanner is augmented with a rotating mirror to build a 3D laser range scanner. A data structure, termed an occupancy list, is devised for efficient probabilistic storing of the 3D map. Algorithms for coherently combining multiple 3D scans from different view points are developed, thus allowing mobile robots to generate an internal representation of their environs.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available