Využití LIDARu v robotických aplikacích

Abstract

This diploma thesis describes exploiting of LIDAR technology for autonomous mapping with robot equipped with laser rangefinder. It also points to the problem of simultaneous localization and mapping, which is solved by SLAM technique. For testing of these techniques is used robot Neato XV-15, which finds parking spot in unknown environment during autonomous mapping of the space. Then the robot finds the shortest path to the parking spot with A* algorithm. The robot remembers explored space and can drive back to the starting position with the shortest path.