title: Ð£Ð¼ÐµÐ½ÑÑÐµÐ½Ð¸Ðµ Ð¿Ð¾Ð³ÑÐµÑÐ½Ð¾ÑÑÐ¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ SLAM-ÐºÐ°ÑÑÑ Ð¿ÑÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð¿Ð¾ Ð½ÐµÑÐ¾Ð²Ð½Ð¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑ Ð½Ð¾ÑÑÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Reducing the SLAM-map error when the robot moves on an uneven surface
Creators: name: ÐÐ¸ÐºÐ¸ÑÐ¸Ð½, ÐÐ»ÐµÐºÑÐ°Ð½Ð´Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: SLAM
ÐÐ­ÐÐ¡
Ð»Ð¸Ð´Ð°Ñ
ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð°ÑÐ¸Ñ
ÑÐ¾Ð±Ð¾Ñ
JETSON
Tegra
ROS
V-REP
RVIZ
iMEMS
LiDAR
stabilization
robot

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: "Ð£Ð¼ÐµÐ½ÑÑÐµÐ½Ð¸Ðµ Ð¿Ð¾Ð³ÑÐµÑÐ½Ð¾ÑÑÐ¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ SLAM - ÐºÐ°ÑÑÑ Ð¿ÑÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð¿Ð¾ Ð½ÐµÑÐ¾Ð²Ð½Ð¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸".
 
 ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð½ÐµÑÐ¾Ð²Ð½Ð¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð½Ð° ÑÐ¾ÑÐ½Ð¾ÑÑÑ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ SLAM ÐºÐ°ÑÑÑ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ ÑÐ³Ð»Ð¾Ð²Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð»Ð¸Ð´Ð°ÑÐ° ÐºÐ°Ðº Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾Ð³Ð¾ ÑÐ¿Ð¾ÑÐ¾Ð±Ð° ÑÐ¼ÐµÐ½ÑÑÐµÐ½Ð¸Ñ Ð¿Ð¾Ð³ÑÐµÑÐ½Ð¾ÑÑÐ¸. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿Ð¾Ð´ÐµÐ»ÐµÐ½Ñ Ð½Ð° 2 Ð³ÑÑÐ¿Ð¿Ñ: 
 1)ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð½ÐµÑÐ¾Ð²Ð½Ð¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð½Ð° Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÐºÐ°ÑÑÑ Ð¿ÑÑÐµÐ¼ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð² ÑÑÐµÐ´Ðµ V-REP;
 2)Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ ÑÐ³Ð»Ð¾Ð²Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð»Ð¸Ð´Ð°ÑÐ°.

 Ð Ð°Ð±Ð¾ÑÐ° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð² ÑÐ°Ð¼ÐºÐ°Ñ Ð¿ÑÐ¾ÐµÐºÑÐ° Robolux ÐºÐ¾Ð¼Ð¿Ð°Ð½Ð¸Ð¸ ÐÐÐ "ÐÑÐºÑÐ¾ÑÑ ÐÑÐ¾ÑÐµÑÐ½Ð»", Ð² ÐºÐ¾ÑÐ¾ÑÐ¾Ð¼ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ Ð´Ð»Ñ Ð¿ÑÐ¾Ð²ÐµÑÐºÐ¸ Ð¸Ð½Ð½Ð¾Ð²Ð°ÑÐ¸Ð¹ Ð² Ð¾Ð±Ð»Ð°ÑÑÐ¸ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð³Ð¾ Ð²Ð¾Ð¶Ð´ÐµÐ½Ð¸Ñ. ÐÐ»Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° ÑÐ°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°Ð»Ð°ÑÑ ÑÐ¸ÑÑÐµÐ¼Ð° ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ ÑÐ³Ð»Ð¾Ð²Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð»Ð¸Ð´Ð°ÑÐ°. Ð¢Ð°ÐºÐ¶Ðµ Ð±ÑÐ»Ð¾ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð² ÑÑÐµÐ´Ðµ V-REP Ð¸ Ð¸Ð·ÑÑÐµÐ½ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð´Ð°Ð½Ð½ÑÑ Ð²Ð½ÑÑÑÐ¸ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ROS.
 
 
 Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð±ÑÐ»Ð¾ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð²Ð»Ð¸ÑÐ½Ð¸Ñ Ð½ÐµÑÐ¾Ð²Ð½Ð¾Ð¹ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð½Ð° ÑÐ¾ÑÐ½Ð¾ÑÑÑ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ SLAM ÐºÐ°ÑÑÑ, Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð¾ÑÐµÐ½ÐºÐ° Ð¿Ð¾Ð³ÑÐµÑÐ½Ð¾ÑÑÐ¸ Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ Ð¼Ð°ÐºÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð¹ Ð²ÑÑÐ¾ÑÑ Ð¿ÐµÑÐµÐ¿Ð°Ð´Ð¾Ð² Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸. ÐÐ¾Ð¼Ð¸Ð¼Ð¾ ÑÑÐ¾Ð³Ð¾, Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¸ Ð¸ÑÐ¿ÑÑÐ°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° ÐºÐ¾ÑÑÐµÐºÑÐ¸Ð¸ ÑÐ³Ð»Ð¾Ð²Ð¾Ð³Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ, Ð¾Ð´Ð½Ð°ÐºÐ¾ Ð¿Ð¾Ð»ÐµÐ²ÑÐµ Ð¸ÑÐ¿ÑÑÐ°Ð½Ð¸Ñ Ð¿ÑÐ¾Ð¹Ð´ÐµÐ½Ñ Ð½Ðµ Ð±ÑÐ»Ð¸.
description: The theme of the graduation qualifying paper: "Reducing the SLAM - map error when the robot moves on an uneven surface".
 
 This work is devoted to the study of the influence of an uneven surface on the accuracy of the SLAM map and the development of a system for correcting the angular position of the lidar as a possible way to reduce the error. The tasks that were solved during the study were divided into 2 groups: 
 1)Study the influence of an uneven surface on map creation by modeling in the V-REP environment;
 2)Development of a lidar angle correction system.
 
 The work was carried out within the framework of the Robolux project of the company "Luxoft Profeshnl" Ltd., in which the development of a car model to test innovations in the field of autonomous driving. A lidar angle correction system was developed for this robot. Modeling in V-REP environment was also carried out and the mechanism of data transfer inside ROS operating system was studied.
 
 
 As a result, a study of the influence of an uneven surface on the accuracy of the SLAM map was carried out, and an estimate of the error was made depending on the maximum height of terrain drops. In addition, an angular position correction system was developed and tested, but no field tests were conducted.