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dc.contributorAndrade-Cetto, Juan
dc.contributor.authorRodríguez Rosales, Juan Esteban
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2012-06-14T10:06:12Z
dc.date.available2012-06-14T10:06:12Z
dc.date.issued2011-09
dc.identifier.urihttp://hdl.handle.net/2099.1/15348
dc.description.abstractThis 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.isoeng
dc.publisherUniversitat Politècnica de Catalunya
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Fabricació::Disseny i accionaments de robots
dc.subject.lcshMobile robots--Design and construction
dc.titleObstacle avoidance for mobile robots using lidar sensors
dc.typeMaster thesis
dc.subject.lemacRobots mòbils -- Disseny i construcció
dc.rights.accessRestricted access - author's decision
dc.audience.educationlevelMàster
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria Industrial de Barcelona


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