Low cost inertial-based localization system for a service robot
| Autor(a) principal: | |
|---|---|
| Data de Publicação: | 2011 |
| Tipo de documento: | Dissertação |
| Idioma: | eng |
| Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
| Texto Completo: | http://hdl.handle.net/10362/5680 |
Resumo: | Dissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science Engineering |
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Low cost inertial-based localization system for a service robotLocalizationINSService robotsMobile robotsKalman filterAHRSDissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science EngineeringThe knowledge of a robot’s location it’s fundamental for most part of service robots. The success of tasks such as mapping and planning depend on a good robot’s position knowledge. The main goal of this dissertation is to present a solution that provides a estimation of the robot’s location. This is, a tracking system that can run either inside buildings or outside them, not taking into account just structured environments. Therefore, the localization system takes into account only measurements relative. In the presented solution is used an AHRS device and digital encoders placed on wheels to make a estimation of robot’s position. It also relies on the use of Kalman Filter to integrate sensorial information and deal with estimate errors. The developed system was testes in real environments through its integration on real robot. The results revealed that is not possible to attain a good position estimation using only low-cost inertial sensors. Thus, is required the integration of more sensorial information, through absolute or relative measurements technologies, to provide a more accurate position estimation.Faculdade de Ciências e TecnologiaSousa, PedroRUNLino, Rúben José Simões2011-05-26T14:14:14Z20112011-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/5680enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T03:36:26Zoai:run.unl.pt:10362/5680Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:16:26.491465Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
| dc.title.none.fl_str_mv |
Low cost inertial-based localization system for a service robot |
| title |
Low cost inertial-based localization system for a service robot |
| spellingShingle |
Low cost inertial-based localization system for a service robot Lino, Rúben José Simões Localization INS Service robots Mobile robots Kalman filter AHRS |
| title_short |
Low cost inertial-based localization system for a service robot |
| title_full |
Low cost inertial-based localization system for a service robot |
| title_fullStr |
Low cost inertial-based localization system for a service robot |
| title_full_unstemmed |
Low cost inertial-based localization system for a service robot |
| title_sort |
Low cost inertial-based localization system for a service robot |
| author |
Lino, Rúben José Simões |
| author_facet |
Lino, Rúben José Simões |
| author_role |
author |
| dc.contributor.none.fl_str_mv |
Sousa, Pedro RUN |
| dc.contributor.author.fl_str_mv |
Lino, Rúben José Simões |
| dc.subject.por.fl_str_mv |
Localization INS Service robots Mobile robots Kalman filter AHRS |
| topic |
Localization INS Service robots Mobile robots Kalman filter AHRS |
| description |
Dissertation presented at Faculty of Sciences and Technology of the New University of Lisbon to attain the Master degree in Electrical and Computer Science Engineering |
| publishDate |
2011 |
| dc.date.none.fl_str_mv |
2011-05-26T14:14:14Z 2011 2011-01-01T00:00:00Z |
| dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
| dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
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masterThesis |
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publishedVersion |
| dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10362/5680 |
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http://hdl.handle.net/10362/5680 |
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eng |
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eng |
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info:eu-repo/semantics/openAccess |
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openAccess |
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application/pdf |
| dc.publisher.none.fl_str_mv |
Faculdade de Ciências e Tecnologia |
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Faculdade de Ciências e Tecnologia |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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