Estudo de técnicas de localização e mapeamento simultâneos aplicadas a robôs móveis com rodas.

Abstract

Simultaneous Localiza,t,ion and Mapping (SLAM) techniques are widely used in mobile robotics. Wit,h the use of these techniques the robot is able to create the map of a unknown environment, using it's owii sensors, without the necessity of a external soui`ce to provicle the map for the robot. A Environment inap is needed in mobile robotics ac'tivities such as localization a.nd navigation. This Bachelor's dissei.tation has the goal of i`esearc.hing the existing SLAM techniques and the types of maps that can be creat,ed. To achieve this goal the existing literature will be consulted aiid the Graph-Based SLAM technique is going to be applied on a virt,ual environment, and on a real robot.