Amr Morssy

Abstract

This thesis will present SLAM in the current literature to benefit from then it will present the investigation results for a hybrid approach used where different algorithms using laser, sonar, and camera sensors were tested and compared. The contribution of this thesis is the development of a hybrid approach for SLAM that uses different sensors and where different factors are taken into consideration such as dynamic objects, and the development of a scalable grid map model with new sensors models for real time update of the map.The thesis will show the success found, difficulties faced and limitations of the algorithms developed which were simulated and experimentally tested in an indoors environment.

Department

Robotics, Control & Smart Systems Program

Degree Name

MS in Robotics, Control and Smart Systems

Graduation Date

2-1-2016

Submission Date

July 2016

First Advisor

Habib, Maki

Committee Member 1

Gaafar, Lotfi

Committee Member 2

Abdennadher, Slim

Extent

285 p.

Document Type

Master's Thesis

Rights

The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy.

Institutional Review Board (IRB) Approval

Not necessary for this item

Comments

This work has been supervised by Prof. Dr. Maki Habib

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