Title :
Remotely Operated and Autonomous Mapping System (ROAMS)
Author :
Gebre, Biruk A. ; Men, Hao ; Pochiraju, Kishore
Author_Institution :
Design & Manuf. Inst., Stevens Inst. of Technol., Hoboken, NJ, USA
Abstract :
The development of a relatively low cost mobile 3D mapping robot prototype named ROAMS (Remotely Operated and Autonomous Mappings Systems) which enables rapid generation of high resolution 3D maps of indoor/outdoor environments is presented. The Robotic system generates 3D maps using a video registered Lidar scanning system integrated with a multiple degree of freedom actuator. This vehicle is also used as a test platform for conducting studies and real-time experiments on autonomous operations. Environmental awareness sensors in combination with a long range wireless communications system is used to enable remote operation and monitoring of ROAMS. Techniques for improving the resolution and point distribution of Lidar data through the use of video images and actuator speed control are also investigated and presented.
Keywords :
actuators; image registration; image resolution; mobile robots; optical radar; remotely operated vehicles; system monitoring; wireless sensor networks; 3D mapping robot prototype; Lidar data; ROAMS; actuator speed control; autonomous mapping system; environmental awareness sensors; long range wireless communications system; remote monitoring; remotely operated system; robotic system; video images; video registered Lidar scanning system; Actuators; Costs; Laser radar; Mobile robots; Prototypes; Remotely operated vehicles; Robot sensing systems; Sensor systems; Testing; Wireless communication;
Conference_Titel :
Technologies for Practical Robot Applications, 2009. TePRA 2009. IEEE International Conference on
Conference_Location :
Woburn, MA
Print_ISBN :
978-1-4244-4991-0
Electronic_ISBN :
978-1-4244-4992-7
DOI :
10.1109/TEPRA.2009.5339624
