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L.U.N.A. - A Laser-Mapping Unidirectional Navigation Actuator

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Experimental Robotics (ISER 2020)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 19))

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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.

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Acknowledgements

The authors thank Dieter Ziegler and Sergio Montenegro for supporting our work. We acknowledge funding from the ESA Contract No. 4000130925/20/NL/GLC for the “DAEDALUS – Descent And Exploration in Deep Autonomy of Lava Underground Structures” Open Space Innovation Platform (OSIP) lunar caves-system study and the Elite Network Bavaria (ENB) for providing funds for the academic program “Satellite Technology”.

Authors Note. In an attempt to abide by the Fair-Principles of open science the authors provided all code developed and further information at their GitHub page.

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Authors and Affiliations

  1. Informatics VII – Robotics and Telematics, University of Würzburg, Am Hubland, 97074, Würzburg, Germany

    Jasper Zevering, Anton Bredenbeck, Fabian Arzberger, Dorit Borrmann & Andreas Nüchter

Authors
  1. Jasper Zevering
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  2. Anton Bredenbeck
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  3. Fabian Arzberger
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  4. Dorit Borrmann
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  5. Andreas Nüchter
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Corresponding author

Correspondence to Dorit Borrmann .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

  2. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Cecilia Laschi

  3. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

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Zevering, J., Bredenbeck, A., Arzberger, F., Borrmann, D., Nüchter, A. (2021). L.U.N.A. - A Laser-Mapping Unidirectional Navigation Actuator. In: Siciliano, B., Laschi, C., Khatib, O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_8

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