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

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.