Mobile mapping robot for dynamic environments (Dynamo)

Date of Publication


Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Science

Subject Categories

Computer Sciences


College of Computer Studies


Computer Science

Defense Panel Member

Jesus E. Gonzalez
Joel P. Ilao
Alexis V. Pantola


Creating a visual representation of a physical environment using a mobile robot while determining its position in the environment is a problem that has been the focus of many mobile robot researches. Current studies have been mostly about mapping static indoor environments. However, real world applications suggest that the robot is often subjected to dynamically changing environments.

The Mobile Mapping Robot for Dynamic Environments (DynaMo) is a wheeled, autonomous, mobile robot that implements an algorithm to address the problem of simultaneous mapping and localization (SLAM) for dynamic environments. Using distance and motion measurements acquired from its sensors, it creates a map of the environment and determines its location in the map. It differentiates the static and dynamic elements of the environment. It maintains two occupancy grid map representations, one for static and another for dynamic elements. Combining both maps gives a complete representation of the environment.

DynaMo's odometric performance was calibrated using University of Michigan Benchmark test. The systematic errors were decreased by approximately 40%. The infrared sensor modules produce maximum errors of 3% for measurements shorter than 30cm and the ultrasonic sensors produce maximum errors of 5% from distances between 20cm to 100cm.

A comparison between maps created by DynaMo in different test environments verifies the effectiveness of using a SLAM algorithm for dynamic environments. The SLAM algorithms for static and for dynamic environments are successful in mapping an unknown static environment. However, in an unknown dynamic environment, the SLAM algorithm for static environments fails to create a usable map while dynamic SLAM succeeds in creating a comprehensible map for the environment.

Abstract Format






Accession Number


Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1 v. (various foliations) : ill. (some col.) ; 28 cm.

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