Cleaning up Smart Cities - Localization of Semi- Autonomous Floor Scrubber (CROSBI ID 635220)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Čelan, Višeslav ; Stančić, Ivo ; Musić, Josip
engleski
Cleaning up Smart Cities - Localization of Semi- Autonomous Floor Scrubber
The paper describes design and features of novel semi-autonomous floor scrubber add-on module, used for cleaning large indoor and outdoor tile/marbles spaces found in modern (smart) cities. Module is designed in such a manner that it can be easily added to and removed from scrubber machine and that additional sensors and capabilities can be introduced (modular design). In the paper localization capabilities of the machine in three sensor setups are presented and analyzed. Analysis is performed in terms of localization accuracy and reliability as well as associated advantages and disadvantages. Obtained results demonstrated that inclusion of UWB subsystem, despite its price and accuracy (20 cm in ideal, line of sight, conditions), yields more reliable and accurate results in open spaces (up to 25 times in position and 2 times in orientation) where performance of used Lidar might be sub-optimal.
service robotics; localization; AMCL; UWB; floor scrubber
Rad u postupku objavljivanja
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Podaci o prilogu
2016.
objavljeno
Podaci o matičnoj publikaciji
1st International Multidisciplinary Conference on Computer and Energy Science SpliTech 2016
978-953-290-060-6
Podaci o skupu
International Multidisciplinary Conference on Computer and Energy Science (SplitTech 2016)
predavanje
13.07.2016-15.07.2016
Split, Hrvatska