UGV Navigation in ROS using LIDAR 3D
This works addresses to give a step forward the achievement of robust Unmanned Ground Vehicles (UGVs), which can drive in urban environments. More specifically, it focuses in the management of a four wheeled vehicle in ROS using mainly the inputs provided by a LIDAR 3D. Simulations were carried out...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2016 |
| País: | España |
| Institución: | Universidad de Alcalá (UAH) |
| Repositorio: | e_Buah Biblioteca Digital Universidad de Alcalá |
| Idioma: | inglés |
| OAI Identifier: | oai:ebuah.uah.es:10017/29080 |
| Acceso en línea: | http://hdl.handle.net/10017/29080 |
| Access Level: | acceso abierto |
| Palabra clave: | Vehículo terrestre no tripulado UGV (Unmanned Ground Vehicle) ROS (Robot Operating System) LiDAR (Light Detection And Ranging) Gazebo PCL (Point Cloud Library) Ingeniería industrial Industrial engineering |
| Sumario: | This works addresses to give a step forward the achievement of robust Unmanned Ground Vehicles (UGVs), which can drive in urban environments. More specifically, it focuses in the management of a four wheeled vehicle in ROS using mainly the inputs provided by a LIDAR 3D. Simulations were carried out in ad-hoc scenarios designed and run using GAZEBO. Visual information provided by sensors is processed through PCL library. Thanks to this processing the needed parameters to manage the UGV are obtained and its guidance can be carried out though a PID controller. |
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