Design of a Mobile Robot for Air Ducts Exploration
AbstractThis work presents the solutions adopted for the design and the implementation of an autonomous wheeled robot developed for the exploration and mapping of air ventilation ducts. The hardware is based on commercial off-the-shelf devices, including sensors, motors, processing devices and interfaces. The mechanical chassis was designed from scratch to meet a trade-off between small size and available volume to host the components. The software stack is based on the Robot Operating System (ROS). Special attention was dedicated to the design of the mobility strategy, which must take into account some constraints and issues that are specific to the considered application, such as the relatively small size of ducts, the need to detect and avoid possible holes on the floor of the duct and other unusual obstacles and the unavailability of external reference frameworks for localization. The main contribution of this paper lies in the design, implementation and experimentation of the overall system. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Koledoye, M.A.; De Martini, D.; Carvani, M.; Facchinetti, T. Design of a Mobile Robot for Air Ducts Exploration. Robotics 2017, 6, 26.
Koledoye MA, De Martini D, Carvani M, Facchinetti T. Design of a Mobile Robot for Air Ducts Exploration. Robotics. 2017; 6(4):26.Chicago/Turabian Style
Koledoye, Moses A.; De Martini, Daniele; Carvani, Massimo; Facchinetti, Tullio. 2017. "Design of a Mobile Robot for Air Ducts Exploration." Robotics 6, no. 4: 26.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.