Abstrakti
Indoor rescue missions can be a challenging task for autonomous navigation as the robot can’t rely on external light and the robot must be able to navigate in narrow spaces where distance to the robot is small. In this study an autonomous rescue robot that utilizes only 3D lidar and wheel measurements is developed and the accuracy of navigation in narrow opening is determined in an experimental test. The results propose that the localization of the tested platform is not accurate and robust enough for navigation in rescue environments where space is limited. Accurate results were only obtained in very optimal initial conditions. Also, variation between test runs was large.
Alkuperäiskieli | Englanti |
---|---|
Otsikko | Proceedings of the 7th Baltic Mechatronics Symposium |
Kustantaja | Aalto-yliopisto |
Sivumäärä | 6 |
ISBN (elektroninen) | 978-952-64-9615-3 |
Tila | Julkaistu - 2022 |
OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
Tapahtuma | Baltic Mechatronics Symposium - Tallinn University of Technology, Mektory, Tallinn, Viro Kesto: 8 huhtik. 2022 → 8 huhtik. 2022 Konferenssinumero: 7 |
Conference
Conference | Baltic Mechatronics Symposium |
---|---|
Maa/Alue | Viro |
Kaupunki | Tallinn |
Ajanjakso | 08/04/2022 → 08/04/2022 |