DC FieldValueLanguage
dc.contributor.authorTurgeman, Avi-
dc.contributor.authorShoval, Shraga-
dc.contributor.authorDegani, Amir-
dc.date.accessioned2019-08-19T10:09:36Z-
dc.date.available2019-08-19T10:09:36Z-
dc.date.issued2018-02-01-
dc.identifier.citationJournal of Robotics and Mechatronics 1 (30): 106-116 (2018-02-01)de_DE
dc.identifier.issn09153942de_DE
dc.identifier.urihttp://hdl.handle.net/11420/3125-
dc.description.abstractThis paper presents a novel methodology for localization and terrain mapping along a defined course such as narrow tunnels and pipes, using a redundant unmanned ground vehicle kinematic design. The vehicle is designed to work in unknown environments without the use of external sensors. The design consists of two platforms, connected by a passive, semi-rigid three-bar mechanism. Each platform includes separate sets of local sensors and a controller. In addition, a central controller logs the data and synchronizes the plat-forms’ motion. According to the dynamic patterns of the redundant information, a fusion algorithm, based on a centralized Kalman filter, receives data from the different sets of inputs (mapping techniques), and produces an elevation map along the traversed route in the x-z sagittal plane. The method is tested in various scenarios using simulated and real-world setups. The experimental results show high degree of accuracy on different terrains. The proposed system is suitable for mapping terrains in confined spaces such as underground tunnels and wrecks where standard mapping devices such as GPS, laser scanners and cameras are not applicable.en
dc.language.isoende_DE
dc.relation.ispartofJournal of Robotics and Mechatronicsde_DE
dc.titleSensor data fusion of a redundant dual-platform robot for elevation mappingde_DE
dc.typeArticlede_DE
dc.type.diniarticle-
dcterms.DCMITypeText-
tuhh.abstract.englishThis paper presents a novel methodology for localization and terrain mapping along a defined course such as narrow tunnels and pipes, using a redundant unmanned ground vehicle kinematic design. The vehicle is designed to work in unknown environments without the use of external sensors. The design consists of two platforms, connected by a passive, semi-rigid three-bar mechanism. Each platform includes separate sets of local sensors and a controller. In addition, a central controller logs the data and synchronizes the plat-forms’ motion. According to the dynamic patterns of the redundant information, a fusion algorithm, based on a centralized Kalman filter, receives data from the different sets of inputs (mapping techniques), and produces an elevation map along the traversed route in the x-z sagittal plane. The method is tested in various scenarios using simulated and real-world setups. The experimental results show high degree of accuracy on different terrains. The proposed system is suitable for mapping terrains in confined spaces such as underground tunnels and wrecks where standard mapping devices such as GPS, laser scanners and cameras are not applicable.de_DE
tuhh.publisher.doi10.20965/jrm.2018.p0106-
tuhh.publication.instituteRegelungstechnik E-14de_DE
tuhh.type.opus(wissenschaftlicher) Artikel-
tuhh.institute.germanRegelungstechnik E-14de
tuhh.institute.englishRegelungstechnik E-14de_DE
tuhh.gvk.hasppnfalse-
dc.type.driverarticle-
dc.type.casraiJournal Article-
tuhh.container.issue1de_DE
tuhh.container.volume30de_DE
tuhh.container.startpage106de_DE
tuhh.container.endpage116de_DE
item.languageiso639-1en-
item.fulltextNo Fulltext-
item.openairetypeArticle-
item.grantfulltextnone-
item.creatorOrcidTurgeman, Avi-
item.creatorOrcidShoval, Shraga-
item.creatorOrcidDegani, Amir-
item.openairecristypehttp://purl.org/coar/resource_type/c_6501-
item.creatorGNDTurgeman, Avi-
item.creatorGNDShoval, Shraga-
item.creatorGNDDegani, Amir-
item.cerifentitytypePublications-
crisitem.author.deptRegelungstechnik E-14-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik-
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