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Design of a Mobile Robot for Air Ducts Exploration

Department of Electrical, Computer and Biomedical Engineering, University of Pavia, via Ferrata, 5-27100 Pavia, Italy
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Robotics 2017, 6(4), 26; https://doi.org/10.3390/robotics6040026
Received: 3 July 2017 / Revised: 25 September 2017 / Accepted: 9 October 2017 / Published: 11 October 2017
This 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
Keywords: robotics; inspection; robot design; UGV; ROS; path planning robotics; inspection; robot design; UGV; ROS; path planning
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Koledoye, M.A.; De Martini, D.; Carvani, M.; Facchinetti, T. Design of a Mobile Robot for Air Ducts Exploration. Robotics 2017, 6, 26.

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