Cloud-based cooperative long-term SLAM for mobile robots in industrial applications:
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| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Stuttgart
Fraunhofer Verlag
[2020]
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| Schriftenreihe: | Stuttgarter Beiträge zur Produktionsforschung
113 |
| Schlagworte: | |
| Online-Zugang: | Inhaltstext Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | xix, 153 Seiten Illustrationen, Diagramme 21 cm |
| ISBN: | 9783839616451 383961645X |
Internformat
MARC
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| 100 | 1 | |a Dörr, Stefan |e Verfasser |0 (DE-588)1223479048 |4 aut | |
| 245 | 1 | 0 | |a Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |c Stefan Dörr |
| 264 | 1 | |a Stuttgart |b Fraunhofer Verlag |c [2020] | |
| 300 | |a xix, 153 Seiten |b Illustrationen, Diagramme |c 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Stuttgarter Beiträge zur Produktionsforschung |v 113 | |
| 502 | |b Dissertation |c Universität Stuttgart |d 2019 | ||
| 650 | 0 | 7 | |a SLAM-Verfahren |0 (DE-588)7842968-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Lokalisierung |g Robotik |0 (DE-588)7569134-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Mehrrobotersystem |0 (DE-588)4734038-1 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Cloud Computing |0 (DE-588)7623494-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Mobiler Roboter |0 (DE-588)4191911-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Server |0 (DE-588)4209324-7 |2 gnd |9 rswk-swf |
| 653 | |a Robotik | ||
| 653 | |a Produktionsindustrie | ||
| 653 | |a Softwareentwicklung | ||
| 653 | |a Algorithmik | ||
| 653 | |a Datenstrukturen | ||
| 653 | |a Produktionstechnik | ||
| 653 | |a mobile Robotik | ||
| 653 | |a autonome Navigation | ||
| 653 | |a mobile robots | ||
| 653 | |a industrial applications | ||
| 653 | |a Wissenschafter | ||
| 653 | |a Forscher | ||
| 653 | |a Forschungsinstitute | ||
| 653 | |a F&E-Abteilungen | ||
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Mobiler Roboter |0 (DE-588)4191911-7 |D s |
| 689 | 0 | 1 | |a Mehrrobotersystem |0 (DE-588)4734038-1 |D s |
| 689 | 0 | 2 | |a SLAM-Verfahren |0 (DE-588)7842968-7 |D s |
| 689 | 0 | 3 | |a Lokalisierung |g Robotik |0 (DE-588)7569134-6 |D s |
| 689 | 0 | 4 | |a Cloud Computing |0 (DE-588)7623494-0 |D s |
| 689 | 0 | 5 | |a Server |0 (DE-588)4209324-7 |D s |
| 689 | 0 | |5 DE-604 | |
| 710 | 2 | |a Fraunhofer-Institut für Produktionstechnik und Automatisierung |0 (DE-588)2058778-8 |4 isb | |
| 710 | 2 | |a Fraunhofer IRB-Verlag |0 (DE-588)4786605-6 |4 pbl | |
| 776 | 0 | 8 | |i Erscheint auch als |n Online-Ausgabe |a Dörr, Stefan |t Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |d Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2020 |h Online-Ressource |
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Datensatz im Suchindex
| _version_ | 1804184618136502272 |
|---|---|
| adam_text | CONTENTS
ABBREVIATIONS
AND
SYMBOLS XII
LIST
OF
FIGURES
XV
LIST
OF
TABLES
XVIII
LIST
OF
ALGORITHMS
XIX
1
INTRODUCTION
1
1.1
MOTIVATION
................................................................................................................
1
1.1.1
MOBILE
ROBOTS
AND
AUTOMATED
GUIDED
VEHICLES
..................................
1
1.1.2
AUTONOMY
OF
MOBILE
ROBOTS
....................................................................
2
1.1.3
EVOLUTION
OF
NAVIGATION
SOLUTIONS
...........................................................
3
1.2
PROBLEM
STATEMENT
................................................................................................
6
1.3
OBJECTIVES
................................................................................................................
9
1.3.1
APPROACH
AND
CONTRIBUTION
....................................................................
9
1.3.2
DELIMITATION
................................................................................................
10
1.4
OUTLINE
..........................................................................................................................
11
1.5
PUBLICATION
NOTE
AND
COLLABORATION
....................................................................
11
2
FUNDAMENTALS
12
2.1
PROBABILISTIC
STATE
ESTIMATION
..............................................................................
12
2.1.1
BAYES
FILTERS
.................................................................................................
13
2.1.2
BINARY
BAYES
FILTER
....................................................................................
14
2.1.3
PARTICLE
FILTER
.............................................................................................
14
2.1.4
NORMAL
DISTRIBUTION
PARAMETER
ESTIMATION
...........................................
15
2.2
NAVIGATION
OF
MOBILE
ROBOTS
.....................................................................................
20
2.2.1
SENSORS
.............................................................................................................
21
2.2.2
MAP
REPRESENTATIONS
.....................................................................................
23
2.2.3
LOCALIZATION
....................................................................................................
25
2.2.4
MAPPING
..........................................................................................................
27
IX
2.2.5
SLAM
..............................................................................................................
28
2.2.6
LONG-TERM
SLAM
........................................................................................
29
2.2.7
PATH
PLANNING
AND
CONTROL
............................................................................
30
2.3
MULTI-ROBOT
SYSTEMS
.................................................................................................
31
2.3.1
COOPERATIVE
ROBOTICS
.....................................................................................
31
2.3.2
NETWORKED
ROBOTICS
.....................................................................................
32
2.3.3
CLOUD
ROBOTICS
..............................................................................................
32
3
A
CLOUD-BASED
COOPERATIVE
NAVIGATION
SYSTEM
34
3.1
INTRODUCTION
.................................................................................................................
34
3.1.1
REQUIREMENT
ANALYSIS
..................................................................................
35
3.1.2
RELATED
WORK
.................................................................................................
36
3.2
SYSTEM
ARCHITECTURE
...................................................................................................
37
3.3
GLOBAL
AND
LOCAL
NAVIGATION
MODULES
......................................................................
39
3.3.1
LOCAL
PERCEPTION
...........................................................................................
39
3.3.2
GLOBAL
PERCEPTION
...........................................................................................
41
3.3.3
GLOBAL
PATH
PLANNING
..................................................................................
41
3.3.4
LOCAL
MOTION
CONTROL
.....................................................................................
42
3.4
CONCLUSION
....................................................................................................................
43
4
ENVIRONMENT
MODELING
FOR
COOPERATIVE
LONG-TERM
MAP
ESTIMATION
45
4.1
INTRODUCTION
.................................................................................................................
45
4.1.1
REQUIREMENT
ANALYSIS
..................................................................................
45
4.1.2
RELATED
WORK
.................................................................................................
47
4.2
ADDING
THE
NORMAL
DISTRIBUTION
TRANSFORM
TO
DYNAMIC
OCCUPANCY
GRID
MAPS
53
4.2.1
LONG-TERM
ESTIMATION
OF
HIDDEN
MARKOV
MODEL
PARAMETERS
............
54
4.2.2
LONG-TERM
ESTIMATION
OF
NORMAL
DISTRIBUTION
PARAMETERS
................
57
4.2.3
UPDATING
MAP
PARAMETERS
WITH
NEW
OBSERVATIONS
................................
58
4.3
GAUSSIAN
MIXTURE
MODELS
FOR
NON-LINEAR
CONTOUR
APPROXIMATION
...................
59
4.3.1
LONG-TERM
ESTIMATION
OF
HIDDEN
MARKOV
MODEL
PARAMETERS
............
61
4.3.2
LONG-TERM
ESTIMATION
OF
GAUSSIAN
MIXTURE
MODEL
PARAMETERS
....
61
4.4
INCORPORATING
OBJECT
REFLECTIVITY
INFORMATION
......................................................
66
4.4.1
BINARY
REFLECTIVITY
MODELING
........................................................................
69
4.4.2
RECURSIVE
ESTIMATION
OF
THE
REFLECTIVITY
STATE
.........................................
70
4.5
TRANSFORMATION
TO
HIGH-RESOLUTION
OCCUPANCY
GRID
MAPS
................................
73
4.6
CONCLUSION
....................................................................................................................
74
X
5
MULTI-ROBOT
COOPERATIVE
LONG-TERM
SLAM
AND
MUTUAL
LOCALIZATION
75
5.1
INTRODUCTION
.................................................................................................................
75
5.1.1
REQUIREMENT
ANALYSIS
..................................................................................
75
5.1.2
RELATED
WORK
.................................................................................................
77
5.2
LOCAL
LONG-TERM
SLAM
...........................................................................................
81
5.2.1
LONG-TERM
SLAM
USING
DUAL
CONFIDENCE
MAP
LAYERS
..............................
82
5.2.2
OBSERVATION
LIKELIHOOD
MODELING
...............................................................
84
5.3
MUTUAL
LOCALIZATION
.................................................................................................
89
5.3.1
MUTUAL
LOCALIZATION
WITH
KNOWN
ASSOCIATIONS
.........................................
91
5.3.2
MUTUAL
LOCALIZATION
WITH
UNKNOWN
ASSOCIATIONS
......................................
96
5.4
COOPERATIVE
MAP
UPDATING
.....................................................................................
97
5.4.1
MAP
UPSTREAMING
...........................................................................................
98
5.4.2
MAP
FUSION
....................................................................................................
98
5.4.3
MAP
DOWNSTREAMING
.....................................................................................
99
5.5
CONCLUSION
....................................................................................................................
99
6
EVALUATION
101
6.1
IMPLEMENTATION
.........................................................................................................
101
6.2
EXPERIMENTS
...............................................................................................................
104
6.2.1
LONG-TERM
MAP
ESTIMATION
......................................................................
104
6.2.2
LOCAL
LONG-TERM
SLAM
.............................................................................
109
6.2.3
COOPERATIVE
MAP
UPDATING
......................................................................
118
6.2.4
MUTUAL
LOCALIZATION
...................................................................................
124
7
CONCLUSION
127
7.1
SUMMARY
..................................................................................................................
127
7.2
OUTLOOK
.....................................................................................................................
129
BIBLIOGRAPHY
133
XI
|
| adam_txt |
CONTENTS
ABBREVIATIONS
AND
SYMBOLS XII
LIST
OF
FIGURES
XV
LIST
OF
TABLES
XVIII
LIST
OF
ALGORITHMS
XIX
1
INTRODUCTION
1
1.1
MOTIVATION
.
1
1.1.1
MOBILE
ROBOTS
AND
AUTOMATED
GUIDED
VEHICLES
.
1
1.1.2
AUTONOMY
OF
MOBILE
ROBOTS
.
2
1.1.3
EVOLUTION
OF
NAVIGATION
SOLUTIONS
.
3
1.2
PROBLEM
STATEMENT
.
6
1.3
OBJECTIVES
.
9
1.3.1
APPROACH
AND
CONTRIBUTION
.
9
1.3.2
DELIMITATION
.
10
1.4
OUTLINE
.
11
1.5
PUBLICATION
NOTE
AND
COLLABORATION
.
11
2
FUNDAMENTALS
12
2.1
PROBABILISTIC
STATE
ESTIMATION
.
12
2.1.1
BAYES
FILTERS
.
13
2.1.2
BINARY
BAYES
FILTER
.
14
2.1.3
PARTICLE
FILTER
.
14
2.1.4
NORMAL
DISTRIBUTION
PARAMETER
ESTIMATION
.
15
2.2
NAVIGATION
OF
MOBILE
ROBOTS
.
20
2.2.1
SENSORS
.
21
2.2.2
MAP
REPRESENTATIONS
.
23
2.2.3
LOCALIZATION
.
25
2.2.4
MAPPING
.
27
IX
2.2.5
SLAM
.
28
2.2.6
LONG-TERM
SLAM
.
29
2.2.7
PATH
PLANNING
AND
CONTROL
.
30
2.3
MULTI-ROBOT
SYSTEMS
.
31
2.3.1
COOPERATIVE
ROBOTICS
.
31
2.3.2
NETWORKED
ROBOTICS
.
32
2.3.3
CLOUD
ROBOTICS
.
32
3
A
CLOUD-BASED
COOPERATIVE
NAVIGATION
SYSTEM
34
3.1
INTRODUCTION
.
34
3.1.1
REQUIREMENT
ANALYSIS
.
35
3.1.2
RELATED
WORK
.
36
3.2
SYSTEM
ARCHITECTURE
.
37
3.3
GLOBAL
AND
LOCAL
NAVIGATION
MODULES
.
39
3.3.1
LOCAL
PERCEPTION
.
39
3.3.2
GLOBAL
PERCEPTION
.
41
3.3.3
GLOBAL
PATH
PLANNING
.
41
3.3.4
LOCAL
MOTION
CONTROL
.
42
3.4
CONCLUSION
.
43
4
ENVIRONMENT
MODELING
FOR
COOPERATIVE
LONG-TERM
MAP
ESTIMATION
45
4.1
INTRODUCTION
.
45
4.1.1
REQUIREMENT
ANALYSIS
.
45
4.1.2
RELATED
WORK
.
47
4.2
ADDING
THE
NORMAL
DISTRIBUTION
TRANSFORM
TO
DYNAMIC
OCCUPANCY
GRID
MAPS
53
4.2.1
LONG-TERM
ESTIMATION
OF
HIDDEN
MARKOV
MODEL
PARAMETERS
.
54
4.2.2
LONG-TERM
ESTIMATION
OF
NORMAL
DISTRIBUTION
PARAMETERS
.
57
4.2.3
UPDATING
MAP
PARAMETERS
WITH
NEW
OBSERVATIONS
.
58
4.3
GAUSSIAN
MIXTURE
MODELS
FOR
NON-LINEAR
CONTOUR
APPROXIMATION
.
59
4.3.1
LONG-TERM
ESTIMATION
OF
HIDDEN
MARKOV
MODEL
PARAMETERS
.
61
4.3.2
LONG-TERM
ESTIMATION
OF
GAUSSIAN
MIXTURE
MODEL
PARAMETERS
.
61
4.4
INCORPORATING
OBJECT
REFLECTIVITY
INFORMATION
.
66
4.4.1
BINARY
REFLECTIVITY
MODELING
.
69
4.4.2
RECURSIVE
ESTIMATION
OF
THE
REFLECTIVITY
STATE
.
70
4.5
TRANSFORMATION
TO
HIGH-RESOLUTION
OCCUPANCY
GRID
MAPS
.
73
4.6
CONCLUSION
.
74
X
5
MULTI-ROBOT
COOPERATIVE
LONG-TERM
SLAM
AND
MUTUAL
LOCALIZATION
75
5.1
INTRODUCTION
.
75
5.1.1
REQUIREMENT
ANALYSIS
.
75
5.1.2
RELATED
WORK
.
77
5.2
LOCAL
LONG-TERM
SLAM
.
81
5.2.1
LONG-TERM
SLAM
USING
DUAL
CONFIDENCE
MAP
LAYERS
.
82
5.2.2
OBSERVATION
LIKELIHOOD
MODELING
.
84
5.3
MUTUAL
LOCALIZATION
.
89
5.3.1
MUTUAL
LOCALIZATION
WITH
KNOWN
ASSOCIATIONS
.
91
5.3.2
MUTUAL
LOCALIZATION
WITH
UNKNOWN
ASSOCIATIONS
.
96
5.4
COOPERATIVE
MAP
UPDATING
.
97
5.4.1
MAP
UPSTREAMING
.
98
5.4.2
MAP
FUSION
.
98
5.4.3
MAP
DOWNSTREAMING
.
99
5.5
CONCLUSION
.
99
6
EVALUATION
101
6.1
IMPLEMENTATION
.
101
6.2
EXPERIMENTS
.
104
6.2.1
LONG-TERM
MAP
ESTIMATION
.
104
6.2.2
LOCAL
LONG-TERM
SLAM
.
109
6.2.3
COOPERATIVE
MAP
UPDATING
.
118
6.2.4
MUTUAL
LOCALIZATION
.
124
7
CONCLUSION
127
7.1
SUMMARY
.
127
7.2
OUTLOOK
.
129
BIBLIOGRAPHY
133
XI |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Dörr, Stefan |
| author_GND | (DE-588)1223479048 |
| author_facet | Dörr, Stefan |
| author_role | aut |
| author_sort | Dörr, Stefan |
| author_variant | s d sd |
| building | Verbundindex |
| bvnumber | BV048585067 |
| classification_tum | FER 986 |
| ctrlnum | (OCoLC)1227306689 (DE-599)DNB1223644448 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV048585067 |
| illustrated | Illustrated |
| index_date | 2024-07-03T21:06:07Z |
| indexdate | 2024-07-10T09:42:12Z |
| institution | BVB |
| institution_GND | (DE-588)2058778-8 (DE-588)4786605-6 |
| isbn | 9783839616451 383961645X |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033960843 |
| oclc_num | 1227306689 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM |
| owner_facet | DE-91G DE-BY-TUM |
| physical | xix, 153 Seiten Illustrationen, Diagramme 21 cm |
| publishDate | 2020 |
| publishDateSearch | 2020 |
| publishDateSort | 2020 |
| publisher | Fraunhofer Verlag |
| record_format | marc |
| series | Stuttgarter Beiträge zur Produktionsforschung |
| series2 | Stuttgarter Beiträge zur Produktionsforschung |
| spelling | Dörr, Stefan Verfasser (DE-588)1223479048 aut Cloud-based cooperative long-term SLAM for mobile robots in industrial applications Stefan Dörr Stuttgart Fraunhofer Verlag [2020] xix, 153 Seiten Illustrationen, Diagramme 21 cm txt rdacontent n rdamedia nc rdacarrier Stuttgarter Beiträge zur Produktionsforschung 113 Dissertation Universität Stuttgart 2019 SLAM-Verfahren (DE-588)7842968-7 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf Cloud Computing (DE-588)7623494-0 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Server (DE-588)4209324-7 gnd rswk-swf Robotik Produktionsindustrie Softwareentwicklung Algorithmik Datenstrukturen Produktionstechnik mobile Robotik autonome Navigation mobile robots industrial applications Wissenschafter Forscher Forschungsinstitute F&E-Abteilungen (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Mehrrobotersystem (DE-588)4734038-1 s SLAM-Verfahren (DE-588)7842968-7 s Lokalisierung Robotik (DE-588)7569134-6 s Cloud Computing (DE-588)7623494-0 s Server (DE-588)4209324-7 s DE-604 Fraunhofer-Institut für Produktionstechnik und Automatisierung (DE-588)2058778-8 isb Fraunhofer IRB-Verlag (DE-588)4786605-6 pbl Erscheint auch als Online-Ausgabe Dörr, Stefan Cloud-based cooperative long-term SLAM for mobile robots in industrial applications Stuttgart : Universitätsbibliothek der Universität Stuttgart, 2020 Online-Ressource Stuttgarter Beiträge zur Produktionsforschung 113 (DE-604)BV040914794 113 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=63cf5d0e255a418495dfbbfde0dfbb49&prov=M&dok_var=1&dok_ext=htm Inhaltstext B:DE-101 application/pdf https://d-nb.info/1223644448/04 Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033960843&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p dnb 20210426 DE-101 https://d-nb.info/provenance/plan#dnb 2\p dnb 20210426 DE-101 https://d-nb.info/provenance/plan#dnb |
| spellingShingle | Dörr, Stefan Cloud-based cooperative long-term SLAM for mobile robots in industrial applications Stuttgarter Beiträge zur Produktionsforschung SLAM-Verfahren (DE-588)7842968-7 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Cloud Computing (DE-588)7623494-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd Server (DE-588)4209324-7 gnd |
| subject_GND | (DE-588)7842968-7 (DE-588)7569134-6 (DE-588)4734038-1 (DE-588)7623494-0 (DE-588)4191911-7 (DE-588)4209324-7 (DE-588)4113937-9 |
| title | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |
| title_auth | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |
| title_exact_search | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |
| title_exact_search_txtP | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |
| title_full | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications Stefan Dörr |
| title_fullStr | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications Stefan Dörr |
| title_full_unstemmed | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications Stefan Dörr |
| title_short | Cloud-based cooperative long-term SLAM for mobile robots in industrial applications |
| title_sort | cloud based cooperative long term slam for mobile robots in industrial applications |
| topic | SLAM-Verfahren (DE-588)7842968-7 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Cloud Computing (DE-588)7623494-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd Server (DE-588)4209324-7 gnd |
| topic_facet | SLAM-Verfahren Lokalisierung Robotik Mehrrobotersystem Cloud Computing Mobiler Roboter Server Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=63cf5d0e255a418495dfbbfde0dfbb49&prov=M&dok_var=1&dok_ext=htm https://d-nb.info/1223644448/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033960843&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV040914794 |
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