Title :
A sensor system for the localisation of climbing robots
Author :
Hillenbrand, C. ; Berns, K.
Author_Institution :
Dept. of Comput. Sci., Technische Univ. Kaiserslautern, Germany
Abstract :
This paper describes the development of a sensor system for the localization and navigation of climbing robots. Based on 3 angular velocity sensors, 3 accelerometers and a dead reckoning wheel, the position and the orientation of a climbing machine are determined. Also the electronic concept is introduced, which allows the calculation of position and orientation in real-time.
Keywords :
acceleration measurement; angular velocity measurement; attitude measurement; mobile robots; navigation; nonelectric sensing devices; path planning; position measurement; sensor fusion; accelerometers; angular velocity sensors; climbing robots localisation; dead reckoning wheel; robot navigation; sensor system; Cleaning; Climbing robots; Concrete; Inspection; Mobile robots; Navigation; Robot sensing systems; Sensor systems; Service robots; Wheels;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240906
