LADAR based mapping and obstacle detection system for service robots

Detalhes bibliográficos
Autor(a) principal: Gomes, Pedro Miguel de Barros
Data de Publicação: 2010
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/4589
Resumo: Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores
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spelling LADAR based mapping and obstacle detection system for service robotsObstacle detectionService robotsMobile robotsLADARMappingIndoorDissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de ComputadoresWhen travelling in unfamiliar environments, a mobile service robot needs to acquire information about his surroundings in order to detect and avoid obstacles and arrive safely at his destination. This dissertation presents a solution for the problem of mapping and obstacle detection in indoor/outdoor structured3 environments, with particular application on service robots equipped with a LADAR. Since this system was designed for structured environments, offroad terrains are outside the scope of this work. Also, the use of any a priori knowledge about LADAR’s surroundings is discarded, i.e. the developed mapping and obstacle detection system works in unknown environments. In this solution, it is assumed that the robot, which carries the LADAR and the mapping and obstacle detection system, is based on a planar surface which is considered to be the ground plane. The LADAR is positioned in a way suitable for a three dimensional world and an AHRS sensor is used to increase the robustness of the system to variations on robot’s attitude, which, in turn, can cause false positives on obstacle detection. The results from the experimental tests conducted in real environments through the incorporation on a physical robot suggest that the developed solution can be a good option for service robots driving in indoor/outdoor structured environments.Faculdade de Ciências e TecnologiaSousa, PedroRUNGomes, Pedro Miguel de Barros2010-12-14T18:33:31Z20102010-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/4589enginfo: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:RCAAP2024-03-11T03:34:32Zoai:run.unl.pt:10362/4589Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:15:47.411355Repositório 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 LADAR based mapping and obstacle detection system for service robots
title LADAR based mapping and obstacle detection system for service robots
spellingShingle LADAR based mapping and obstacle detection system for service robots
Gomes, Pedro Miguel de Barros
Obstacle detection
Service robots
Mobile robots
LADAR
Mapping
Indoor
title_short LADAR based mapping and obstacle detection system for service robots
title_full LADAR based mapping and obstacle detection system for service robots
title_fullStr LADAR based mapping and obstacle detection system for service robots
title_full_unstemmed LADAR based mapping and obstacle detection system for service robots
title_sort LADAR based mapping and obstacle detection system for service robots
author Gomes, Pedro Miguel de Barros
author_facet Gomes, Pedro Miguel de Barros
author_role author
dc.contributor.none.fl_str_mv Sousa, Pedro
RUN
dc.contributor.author.fl_str_mv Gomes, Pedro Miguel de Barros
dc.subject.por.fl_str_mv Obstacle detection
Service robots
Mobile robots
LADAR
Mapping
Indoor
topic Obstacle detection
Service robots
Mobile robots
LADAR
Mapping
Indoor
description Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Electrotécnica e de Computadores
publishDate 2010
dc.date.none.fl_str_mv 2010-12-14T18:33:31Z
2010
2010-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/4589
url http://hdl.handle.net/10362/4589
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Faculdade de Ciências e Tecnologia
publisher.none.fl_str_mv Faculdade de Ciências e Tecnologia
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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