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Teleoperator turn maneuver assistance for a Mars rover with local elevation maps
2008 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Teleoperation of a mobile robot with Ackerman steering is a difficult task. The proposed solution in this work is based on constructing the elevation map of the environment utilizing a 2D laser range finder which is mounted on a tilting unit. The point cloud which is generated by the laser range finder is converted to an elevation map. This elevation map is visualized to the operator in 3D to support him during the teleoperation task. Various filters are investigated to reduce the noise effects on the elevation map to get a consistent map. The application of the filters also leads to a smoother visualization for the operator. A calibration function for the laser scanner and also an auto-calibration function to correct the mechanical misalignments of the laser scanner and the tilting unit have been developed and tested. For path planning the elevation map will be converted to a occupancy grid. After finding the waypoints for the equivalent holonomic system by applying the exact cell decomposition method on the occupancy grid, the path for the holonomic system will be customized for the nonholonomic Mars rover with Ackerman steering. Two different methods are implemented for customizing the path for the nonholonomic system, solution based on 7-atomic maneuver, and a solution for smooth path planning. The experimental results are presented in the end.

Place, publisher, year, edition, pages
Keyword [en]
Technology, path planning, Mars rover, local elevation maps, laser range, finder
Keyword [sv]
URN: urn:nbn:se:ltu:diva-58245ISRN: LTU-PB-EX--08/028--SELocal ID: ed33857c-2c1d-4058-ba2e-b8380cf47963OAI: diva2:1031633
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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