Description

This thesis aims at studying and implementing a special type of SLAM solely based on the information provided by the on-board Inertial Measurement Unit (IMU) from a spherical mobile robot called Sphero, developed by Orboti. We show how it is possible to detect the location of the corners from changes in the robot’s speed. A map representation, then, consists of the location of the corners, their uncertainty, and their connection through straight walls. Three uncertainty models are compared: a probabilistic model and two bounded-error models.

The work is under the scope of the following projects:

• RobCab: Control strategies for cable-driven robot for low-gravity simulation (web)