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Obstacle avoidance for mobile robots using lidar sensors
| dc.contributor | Andrade-Cetto, Juan |
| dc.contributor.author | Rodríguez Rosales, Juan Esteban |
| dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
| dc.date.accessioned | 2012-06-14T10:06:12Z |
| dc.date.available | 2012-06-14T10:06:12Z |
| dc.date.issued | 2011-09 |
| dc.identifier.uri | http://hdl.handle.net/2099.1/15348 |
| dc.description.abstract | This master thesis is aimed at developing a ROS compatible obstacle avoidance module for a Segway RMP400 platform using lidar sensors. The algorithm implemented supports different 3D scenarios, such as slopes and precipices. Given that the currently available navigation modules in the ROS stack work only for 2D, significant modification of the navigation stack was mandatory. The proposed solution does not take into account the non-holonomic constraints of the platform. An alternative method is developed to tackle this issue for the case of tele operated motion. |
| dc.language.iso | eng |
| dc.publisher | Universitat Politècnica de Catalunya |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Fabricació::Disseny i accionaments de robots |
| dc.subject.lcsh | Mobile robots--Design and construction |
| dc.title | Obstacle avoidance for mobile robots using lidar sensors |
| dc.type | Master thesis |
| dc.subject.lemac | Robots mòbils -- Disseny i construcció |
| dc.rights.access | Restricted access - author's decision |
| dc.audience.educationlevel | Màster |
| dc.audience.mediator | Escola Tècnica Superior d'Enginyeria Industrial de Barcelona |