Tesi etd-01292019-172656 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
GEMMA, LUCA
URN
etd-01292019-172656
Titolo
DEVELOPMENT OF AN EXPLORATIVE AUTONOMOUS MOBILE ROBOT IN UNKNOWN INDOOR ENVIRONMENTS.
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof.ssa Pallottino, Lucia
Parole chiave
- car-like robots
- mobile robot
- motion planning
- pantherbot
- RRT exploration
- SLAM
Data inizio appello
21/02/2019
Consultabilità
Non consultabile
Data di rilascio
21/02/2089
Riassunto
Autonomous mobile Robots development is a relevant and interesting topic in robotic research. The abilities of mapping, localizing itself and exploring unknown environments are common and desired features in that field. This work presents a systematic study aiming to the realization of a high speed car-like autonomous robot, namely Pantherbot, able to explore and to build a complete map in an actual scenario with only an RGBD-Sensor, and capable to mimic a more complex vehicle, such as DevBot in Roborace competition in future developments.
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