Development of a Mobile Robotics Platform for Three Dimensional Mapping

King, Matthew and De Silva, Oscar (2018) Development of a Mobile Robotics Platform for Three Dimensional Mapping. In: 2018 Newfoundland Electrical and Computer Engineering Conference, November 13, 2018, St. John's, Newfoundland and Labrador.

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This paper presents the design, implementation, and realization of a mobile robotics platform for the purpose of 3D mapping and also to enable other research work. The system described is composed of two major components. The first is the Seekur Jr unmanned ground vehicle (UGV). Second is the tilt-laser unit which is used to generate a 3D pointcloud. The system is integrated into a cohesive unit using the Robot Operating System (ROS). System validation was carried out through a series of trials on the first floor of the MUN engineering building. Results include 3D maps produced both from the Seekur Jr. and from a stationary platform. The custom control system used for the Seekur Jr. is distinct from available ROS packages because its architecture requires little to no modifications to be made on the robot's integrated computer. The package is available online through GitHub.

Item Type: Conference or Workshop Item (Paper)
Item ID: 15927
Additional Information: All authors consent to publication in the Research Repository
Keywords: Robotics, 3D Mapping, Lidar, ROS
Department(s): Engineering and Applied Science, Faculty of
Date: 13 November 2018
Date Type: Completion

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