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Author: | Sosa Cruz, Roberto |
Title: | Autonomous localization for small 4 wheel steering (4WS) robot |
Publication type: | Master's thesis |
Publication year: | 2012 |
Pages: | (15) + 103 s. + liitt. 11 Language: eng |
Department/School: | Automaatio- ja systeemitekniikan laitos |
Main subject: | Automaatiotekniikka (AS-84) |
Supervisor: | Halme, Aarne ; Gustafsson, Thomas |
Instructor: | Oksanen, Timo |
OEVS: | Electronic archive copy is available via Aalto Thesis Database.
Instructions Reading digital theses in the closed network of the Aalto University Harald Herlin Learning CentreIn the closed network of Learning Centre you can read digital and digitized theses not available in the open network. The Learning Centre contact details and opening hours: https://learningcentre.aalto.fi/en/harald-herlin-learning-centre/ You can read theses on the Learning Centre customer computers, which are available on all floors.
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Location: | P1 Ark Aalto 5617 | Archive |
Keywords: | planetary rover mobile robot extended kalman filter uncented kalman filter 4-wheel robot |
Abstract (eng): | Planetary rovers are robots that need to perform autonomous navigation, because of the long delay communication and no human assistance. Furthermore, they need to perform the optimal estimation of its position in order to have a good performance· on its navigation system. The need for good performance filters for estimating the actual position of mobile robots of this kind is needed, due to the fact that sensors are noisy and that information is of vital importance for a planetary rover's mission. Besides, good accurate sensors for the matter are not easy to find for space application. Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) were implemented to analyse a data set of a 4-wheel robot, and later used for comparison on accuracy in the estimation of its pose. The analysis will give the possibility to know the right combination of sensors, recognize some issues during the trajectory. Furthermore, this study has been made with aims to give the reader knowledge of state of the art in planetary rovers, their constraints and consideration while developing them. The robot used for the research has been developed for an international competition of field robot automation. The main goal is to navigate autonomously through flowerpots performing different tasks as flowerpot collection, distance travelled and robustness on localization and navigation algorithms. |
ED: | 2012-10-01 |
INSSI record number: 45323
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