Environment Mapping Literature Review
Environment Mapping using the Lego MindstormsNXT and leJOS NXJ
Literature Review
Michelle Ruth – B00058602
Table of Contents
Abstract: 2
Introduction 3
Environment Mapping 3
Abstract:
This paper will present a series of simultaneous localization and mapping (SLAM) using a Lego Mindstorms NXT brick and leJOS NXJ as the programming language which is a very tiny JAVA virtual Machine that provides a very powerful API, and also the necessary tools to upload the JAVA code to the NXT brick via Bluetooth. According to the authors of this paper their goals were successful as they were able to use a trigonometry based approach to get the mapping of the robot’s environment while implementing a simple subsumption architecture.
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This would be relevant to our project when we are able to implement the robot as a search and rescue robot in places of disaster and would help¬ the rescuers to be able to find the people who would be stuck under rubble and instead of risking lives to search an area where there might not be anybody trapped there then the robot would be useful to find out if there is anybody …show more content…
“Mapping can be classified as either metric or topological. A metric approach is one that determines the geometric properties of the environment, while topological approach is one that determines the relationships of locations of interest in the environment.” This will be very relevant to our project as the robot needs to make a map of its environment for the rescuers to find where the robot is to track the people who are to be rescued.
If the mapping can be connected to a laptop screen then we could show how the robot is travelling. We could either attach a camera to the robot that will connect to a laptop via Bluetooth to send the stream or we could get the robot to contact the laptop directly and described exactly what way it went so that the rescuers could find the injured person/people.
In our project we will be doing metric mapping just like the authors of this paper as a metric map, in mathematical theory, it is a “function between metric spaces that does not increase any distance (always continuous). These maps are the morphisms in the category of metric spaces, Met “(Isbell, 1964). This can also be called Lipschitz functions, named after Rudolf Lipschitz. “The Lipschitz continuity is a strong form of uniform continuity for
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