2022 IB Diploma Extended Essays

Table of Contents Introduction..........................................................................................................................................5 SLAM..........................................................................................................................................5 Visual SLAM..............................................................................................................................5 LiDAR SLAM.............................................................................................................................6 ROS.............................................................................................................................................7 Sensor-Fusion SLAM..................................................................................................................7 Hypothesis.......................................................................................................................................9 Methodology....................................................................................................................................9 ROS Robot..................................................................................................................................9 Test Environment...........................................................................................................................10 Maze Conditions......................................................................................................................10 Architecture...................................................................................................................................10 Criteria for Benchmarks.................................................................................................................13 Discussion...........................................................................................................................................13 Data from sensor-fusion.................................................................................................................14 Motion model............................................................................................................................14 Pose values for the Extended Kalman Filter.............................................................................14 Conclusion..........................................................................................................................................17 Limitations.....................................................................................................................................17 Bias................................................................................................................................................17 Further Investigations....................................................................................................................17 References..........................................................................................................................................18 Appendix............................................................................................................................................21 Hardware...................................................................................................................................21 Software:........................................................................................................................................23 Robot Model:.................................................................................................................................23 Kinematic Model – Ackerman steering.....................................................................................23 URDF model.............................................................................................................................23 Gazebo simulation.....................................................................................................................24 ROS explanation.......................................................................................................................25 Working autonomous navigation...................................................................................................26 Further Explanation of scale drift.............................................................................................27 Pose linear data for hector slam................................................................................................27 ORB SLAM Pose Data.............................................................................................................29 IMU data........................................................................................................................................32 Accelerometer data-set..................................................................................................................32 Gyroscope Data.........................................................................................................................33 Magnetometer Data...................................................................................................................34 Data Set Preparation for sensor fusion..........................................................................................34 Command control interpolation................................................................................................34 X Pose data................................................................................................................................36 Pose provided by Zedfu metrics................................................................................................38 Code for benchmarks.....................................................................................................................39 Pose calculation.........................................................................................................................39 Plot pose....................................................................................................................................40 Error calculation........................................................................................................................43