3D position tracking for all-terrain robots ...
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts, volcanoes, in the Antarctic or on other pl...
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| Format: | Doctoral or Postdoctoral Thesis |
| Language: | English |
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Lausanne, EPFL
2005
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| Online Access: | https://dx.doi.org/10.5075/epfl-thesis-3192 https://infoscience.epfl.ch/handle/20.500.14299/212568 |
| Summary: | Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts, volcanoes, in the Antarctic or on other planets. They are also of high interest for search and rescue operations after natural or artificial disasters. The challenges to bring autonomy to all terrain rovers are wide. In particular, it requires the development of systems capable of reliably navigate with only partial information of the environment, with limited perception and locomotion capabilities. Amongst all the required functionalities, locomotion and position tracking are among the most critical. Indeed, the robot is not able to fulfill its task if an inappropriate locomotion concept and control is used, and global path planning fails if the rover loses track of its position. This thesis addresses both aspects, a) efficient locomotion and b) position ... |
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