Abstract

This bachelor thesis conquers the problem of automatic measurement of room impulse responses via autonomous robots, i.e. the room impulse measurement and the localization of the robot via a LIDAR, a laser scan matcher. The LIDAR has been combined with a Robot Operating System, in this case ROS kinetic, running on a RaspberryPi with Ubuntu Mate. Via the combination of individual packages, such as Hector-SLAM and Python RosPy, the localization of the LIDAR in the room has been achieved. Hector SLAM is used as a lightweight SLAM-alternative for localization and mapping and Python RosPy for communication with the LIDAR and usage of different code parts. All of this combined allows the given system to retrieve the x and y position of the LIDAR on a given map of a room. The LIDAR, even without odometry, is a lightweight option, to localize a given robot inside any random environment, as long as it is not too big, since the LIDAR has a maximal range.