Autonomous localization for small 4 wheel steering (4WS) robot

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School of Electrical Engineering | Master's thesis
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Date

2012

Department

Automaatio- ja systeemitekniikan laitos

Major/Subject

Automaatiotekniikka

Mcode

AS-84

Degree programme

Language

en

Pages

(15) + 103 s. + liitt. 11

Series

Abstract

Planetary rovers are robots that need to perform autonomous navigation, because of the long delay communication and no human assistance. Furthermore, they need to perform the optimal estimation of its position in order to have a good performance· on its navigation system. The need for good performance filters for estimating the actual position of mobile robots of this kind is needed, due to the fact that sensors are noisy and that information is of vital importance for a planetary rover's mission. Besides, good accurate sensors for the matter are not easy to find for space application. Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) were implemented to analyse a data set of a 4-wheel robot, and later used for comparison on accuracy in the estimation of its pose. The analysis will give the possibility to know the right combination of sensors, recognize some issues during the trajectory. Furthermore, this study has been made with aims to give the reader knowledge of state of the art in planetary rovers, their constraints and consideration while developing them. The robot used for the research has been developed for an international competition of field robot automation. The main goal is to navigate autonomously through flowerpots performing different tasks as flowerpot collection, distance travelled and robustness on localization and navigation algorithms.

Description

Supervisor

Halme, Aarne|Gustafsson, Thomas

Thesis advisor

Oksanen, Timo

Keywords

planetary rover, mobile robot, extended kalman filter, uncented kalman filter, 4-wheel robot

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Citation

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-2020122859102

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[dipl] Sähkötekniikan korkeakoulu / ELEC