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Obstacle avoidance for mobile robots using lidar sensors
Rodríguez Rosales, Juan Esteban
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Andrade-Cetto, Juan
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.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Àrees temàtiques de la UPC::Enginyeria mecànica::Fabricació::Disseny i accionaments de robots
Mobile robots--Design and construction
Robots mòbils -- Disseny i construcció
info:eu-repo/semantics/masterThesis
Universitat Politècnica de Catalunya
         

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