TY - GEN
T1 - LUNA-A Laser-Mapping Unidirectional Navigation Actuator
AU - Zevering, Jasper
AU - Bredenbeck, A.
AU - Arzberger, Fabian
AU - Borrmann, Dorit
AU - Nüchter, Andreas
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85107077805&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-71151-1_8
DO - 10.1007/978-3-030-71151-1_8
M3 - Conference contribution
T3 - Springer Proceedings in Advanced Robotics
SP - 85
EP - 94
BT - International Symposium on Experimental Robotics
PB - Springer
ER -