Objectives 
• Simulate virtual robot for test and analysis • Analyze SLAM solutions using ROS • Assemble a functional Turtlebot • Emphasize projects related to current research trajectories for NASA, and general robotics application

Clark, Kurtis

Evert, Jeremy

Miller, Jacob

English

SWOSU Digital Commons (Southwestern Oklahoma State University)

Southwestern Oklahoma State University SWOSU Digital Commons Student Research Business & Computer Science 3-6-2020 Simultaneous Localization and Mapping Analysis Jacob Miller Kurtis Clark Jeremy Evert Follow this and additional works at: https://dc.swosu.edu/cpgs_edsbt_bcs_student  Part of the Computer Engineering Commons, and the Computer Sciences Commons • Ensures data gathered data isn't Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., tampered by original testing Leibs, J., ... & Ng, A. Y. (2009, May). ROS: an open- source Robot Operating System. In ICRA workshop on environment open source software (Vol. 3, No. 3.2, p. 5). • Gives a chance to test tutorials Durrant-Whyte, H., & Bailey, T. (2006). Simultaneous localization and mapping: part I. IEEE robotics & being written as part of project automation magazine, 13(2), 99-110. • Address 1/0 concerns R~~ Documentation. (n.d.). Retrieved from ROS Wiki: wikl.ros.orq This material is based upon work supported by the National Aeronautics and Space Administration under Grant No.NNX15AK02H issued through NASA Education. References • Iterate on data collection method • Deploy in different environments: 00!:--------::'20:--------:':40 _ ____L_60--8~0--10~0-~128 time (s) Project Future 2 2 8 • Settled on parameters to compare: memory and cpu • Utilized bash scripts to automate initialization and resource collection • Analyzed and plotted data iO 6 ~ e- 0 E (l) :;;: 4 (ii (l) cc r--------.--------,--~-~---~ 10 Gazebo resource usage Methods 00=---------='20=--------='=40 _ ___,c_60------'-so-____J.__~ time (s) 20 40 60 50 iO 40 ~ e 0 E (l) 30:;;: (ii (l) a:: 20 10 0 100 120 ~ :::J iJ 60 SLAM resource usage • Simulate virtual robot for test and analysis • Analyze SLAM solutions using ROS • Assemble a functional Turtlebot • Emphasize projects related to current research trajectories for NASA, and general robotics applications Data Objectives EVERETT DOBSON BusrN£ss & TECHNOLOGY swf)su • Simulation Example • ROS - Robot Operating System. An open source suite of programs designed to be implemented in various robot platforms • SLAM - Simultaneous Localization and Mapping. The estimation of an unknown map and an agent's location inside it • Turtlebot - Entry level robotics platform, utilizing open source software Definitions 

Simultaneous Localization and Mapping Analysis

https://dc.swosu.edu/cgi/viewcontent.cgi?article=1026&context=cpgs_edsbt_bcs_student

Simultaneous Localization and Mapping Analysis

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