Context-aware techniques for real-time decision making in autonomous mobile robots
Autonomous robots have become increasingly popular in recent years. Its services have been utilised in various industries such as hospitality, dining, transport & logistics, healthcare and more. In order for us to make better use of them, we have to understand how these robots work. These robots...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/176287 |
| _version_ | 1811692029575430144 |
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| author | Ho, Ervinna Gek Teng |
| author2 | Andy Khong W H |
| author_facet | Andy Khong W H Ho, Ervinna Gek Teng |
| author_sort | Ho, Ervinna Gek Teng |
| collection | NTU |
| description | Autonomous robots have become increasingly popular in recent years. Its services have been utilised in various industries such as hospitality, dining, transport & logistics, healthcare and more. In order for us to make better use of them, we have to understand how these robots work. These robots employ the use of Simultaneous Localization and Mapping (SLAM) to navigate through their environment and accomplish tasks. To comprehend the complexities of SLAM algorithms, this paper focuses on the concepts
behind VSLAM, the implementation of a select few algorithms and the comparative analysis on the accuracy of these algorithms to identify which one is best suited to be installed in the Delta-NTU Lab’s Carter robot. The methodology used in this paper evaluates the performance of selected algorithms against a publicly available dataset, the EuRoC MAV Dataset, and goes on to test the selected algorithm, ORB-SLAM3, on the data collected by the Carter robot. |
| first_indexed | 2024-10-01T06:29:17Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/176287 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:29:17Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1762872024-05-17T15:45:05Z Context-aware techniques for real-time decision making in autonomous mobile robots Ho, Ervinna Gek Teng Andy Khong W H School of Electrical and Electronic Engineering AndyKhong@ntu.edu.sg Engineering Autonomous robots have become increasingly popular in recent years. Its services have been utilised in various industries such as hospitality, dining, transport & logistics, healthcare and more. In order for us to make better use of them, we have to understand how these robots work. These robots employ the use of Simultaneous Localization and Mapping (SLAM) to navigate through their environment and accomplish tasks. To comprehend the complexities of SLAM algorithms, this paper focuses on the concepts behind VSLAM, the implementation of a select few algorithms and the comparative analysis on the accuracy of these algorithms to identify which one is best suited to be installed in the Delta-NTU Lab’s Carter robot. The methodology used in this paper evaluates the performance of selected algorithms against a publicly available dataset, the EuRoC MAV Dataset, and goes on to test the selected algorithm, ORB-SLAM3, on the data collected by the Carter robot. Bachelor's degree 2024-05-15T06:12:05Z 2024-05-15T06:12:05Z 2024 Final Year Project (FYP) Ho, E. G. T. (2024). Context-aware techniques for real-time decision making in autonomous mobile robots. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/176287 https://hdl.handle.net/10356/176287 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering Ho, Ervinna Gek Teng Context-aware techniques for real-time decision making in autonomous mobile robots |
| title | Context-aware techniques for real-time decision making in autonomous mobile robots |
| title_full | Context-aware techniques for real-time decision making in autonomous mobile robots |
| title_fullStr | Context-aware techniques for real-time decision making in autonomous mobile robots |
| title_full_unstemmed | Context-aware techniques for real-time decision making in autonomous mobile robots |
| title_short | Context-aware techniques for real-time decision making in autonomous mobile robots |
| title_sort | context aware techniques for real time decision making in autonomous mobile robots |
| topic | Engineering |
| url | https://hdl.handle.net/10356/176287 |
| work_keys_str_mv | AT hoervinnagekteng contextawaretechniquesforrealtimedecisionmakinginautonomousmobilerobots |