Mechatronic design of an omnidirectional robotic platform and its navigation based on graph SLAM implementation

Prados Sesmero, Carlos (2020). Mechatronic design of an omnidirectional robotic platform and its navigation based on graph SLAM implementation. Thesis (Master thesis), E.T.S.I. Industriales (UPM).

Description

Title: Mechatronic design of an omnidirectional robotic platform and its navigation based on graph SLAM implementation
Author/s:
  • Prados Sesmero, Carlos
Contributor/s:
  • Ferre Pérez, Manuel
  • Di Castro, Mario
Item Type: Thesis (Master thesis)
Masters title: Automática y Robótica
Date: January 2020
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: None

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (29MB) | Preview

Abstract

One of the most significant problems in underground tunnels is the survey of the proper performance of the security sensors available along the whole corridor, especially when dealing with the safety of personnel working in one of the largest underground tunnel complexes in the world. Intending to enhance the process of inspection in long tunnels, this project presents the mechatronic design of an autonomous robot for the SPS accelerator of CERN, where any amount of restriction is present due to its actual state. Besides, its kinematic and dynamic control is specified. Furthermore, a graph-SLAM algorithm, which uses the robot odometry, inertial motion, visual odometry, and point clouds acquisition, for the robot location while generating a reconstruction of the environment is presented. Besides, to find a radiation-resistant system, a study of microcontrollers under radioactivity has been prepared.

More information

Item ID: 66477
DC Identifier: http://oa.upm.es/66477/
OAI Identifier: oai:oa.upm.es:66477
Deposited by: Carlos Prados Sesmero
Deposited on: 22 Mar 2021 10:14
Last Modified: 22 Mar 2021 10:14
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM