LUNA-A Laser-Mapping Unidirectional Navigation Actuator

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LUNA-A Laser-Mapping Unidirectional Navigation Actuator

Conference Paper (2020)

Author(s)

Jasper Zevering (Julius-Maximilians University)

A. Bredenbeck (Julius-Maximilians-Universität Würzburg)

Fabian Arzberger (Julius-Maximilians-Universität Würzburg)

Dorit Borrmann (Julius-Maximilians-Universität Würzburg)

Andreas Nüchter (Julius-Maximilians-Universität Würzburg)

University

External organisation

DOI related publication

https://doi.org/10.1007/978-3-030-71151-1_8 Final published version

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https://resolver.tudelft.nl/uuid:0dde0089-58b8-49da-ad65-f3cc1b85fb1f

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Publication Year

2020

Language

English

University

External organisation

Pages (from-to)

85-94

Publisher

Springer

Page Views

224

Abstract

This paper proposes an autonomous approach to 3D mapping using the concept of impulse by conservation of angular momentum (IBCOAM) as a unidirectional drive to roll a 2D laser scanner in an IMU equipped, pose-tracked spherical robot system. An experimental prototype of the robot is introduced, giving details about the hardware. The laser scanning results as well as the IBCOAM drive data that have been gathered using the prototype are analyzed, revealing technical challenges.