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Development of a ground robot for indoor SLAM using Low‐Cost LiDAR and remote LabVIEW HMI

Schubert, Jack (2018) Development of a ground robot for indoor SLAM using Low‐Cost LiDAR and remote LabVIEW HMI. Honours thesis, Murdoch University.

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The simultaneous localization and mapping problem (SLAM) is crucial to autonomous navigation and robot mapping. The main purpose of this thesis is to develop a ground robot that implements SLAM to test the performance of the low‐cost RPLiDAR A1M8 by DFRobot. The HectorSLAM package, available in ROS was used with a Raspberry Pi to implement SLAM and build maps. These maps are sent to a remote desktop via TCP/IP communication to be displayed on a LabVIEW HMI where the user can also control robot. The LabVIEW HMI and the project in its entirety is intended to be as easy to use as possible to the layman, with many processes being automated to make this possible.

The quality of the maps created by HectorSLAM and the RPLiDAR were evaluated both qualitatively and quanitatively to determine how useful the low‐cost LiDAR can be for this application. It is hoped that the apparatus developed in this project will be used with drones in the future for 3D mapping.

Item Type: Thesis (Honours)
Murdoch Affiliation(s): School of Engineering and Information Technology
Supervisor(s): Parlevliet, David
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