University of Twente Student Theses


Mapping and localization of a rail-guided robot

Gies, S.H. (2015) Mapping and localization of a rail-guided robot.

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Abstract:The following paper covers the report of a Bachelor’s thesis that was carried out at the end of a study in Electrical Engineering at the University of Twente. The presented work took place at the chair of Robotics and Mechatronics (RaM), which takes part in the interregional project RoboShip: a maritime subproject of the INTERREG IVA project SmartBot in which multi-sensor robot platforms are developed for applications in various sectors. The RoboShip subproject aims at automation of the inspection of ballast water tanks in ships, a dangerous and unhealthy task currently being done by humans. At the start of this thesis in April 2015 a prototype of the robot was already available, including sensing equipment and an inspection arm. One of the things that had to be worked on in order to improve autonomous behavior was the self-awareness of the robot’s location in its working environment. Finding a solution to this problem formed the assignment of this thesis. After following a course on optimal estimation in dynamic systems and researching on how mapping and localization of similar robots is performed, an algorithm was created that uses a model of the robot’s kinematics as well as control input data and sensor measurements to determine the robot’s actual position in both 1D and 3D space.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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