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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Booz Allen: Unearthing the subterranean environment. https://www.subtchallenge.com. Accessed 06 Apr 2020
Alves, J., Dias, J.: Design and control of a spherical mobile robot. Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. 217(6), 457–467 (2003)
Hanxu, S., Aiping, X., Qingxuan, J., Liangqing, W.: Omnidirectional kinematics analysis on bi-driver spherical robot. J. Beijing Univ. Aeronaut. Astronaut. 31, 735–739 (2005)
Bhattacharya, S., Agrawal, S.K.: Spherical rolling robot: a design and motion planning studies. IEEE Trans. Robot. Autom. 16(6), 835–839 (2000)
Borrmann, D., Jörissen, S., Nüchter, A.: RADLER - A RADial LasER scanning device. In: Proceedings of the 16th International Symposium of Experimental Robotics (ISER ’18), Springer Tracts in Advanced Robotics, pp. 655–664, Buenos Aires, Argentina (2018)
Liu, D., Sun, H., Jia, Q., Wang, L.: Motion control of a spherical mobile robot by feedback linearization. In: 2008 7th World Congress on Intelligent Control and Automation, pp. 965–970 (2008)
Fang, Z., Zhao, S., Wen, S., Zhang, Yu.: A real-time 3D perception and reconstruction system based on a 2D laser scanner. J. Sens. 1–14(05), 2018 (2018)
Gajamohan, M., Merz, M., Thommen, I., D’Andrea, R.: The cubli: a cube that can jump up and balance. In: International Conference on Intelligent Robots and Systems, pp. 3722–3727 (2012)
Halme, A., Suomela, J., Schönberg, T., Wang, Y.: A spherical mobile micro-robot for scientific applications. ASTRA, 96 (1996)
Lauterbach, H.A., Borrmann, D., Nüchter, A., Rossi, A.P., Unnithan, V., Torrese, P., Pozzobon, R.: Mobile mapping of the la corona lavatube on lanzarote. In: Proceedings of the ISPRS Geospatial Week 2019, Laserscanning 2019, ISPRS Annals Photogrammetry and Remote Sensing, Spatial Information Science, IV-2/W5, pp. 381–387, Enschede, Netherlands (2019)
Lehtola, V., Virtanen, J.-P., Kukko, A., Kaartinen, H., Hyyppä, H.: Localization of mobile laser scanner using classical mechanics. ISPRS J. Photogramm. Remote Sens. 99, 25–29 (2015)
Muralidharan, V., Mahindrakar, A.D.: Geometric controllability and stabilization of spherical robot dynamics. IEEE Trans. Autom. Control 60(10), 2762–2767 (2015)
Nüchter, A., Bleier, M., Schauer, J., Janotta, P.: Improving Google’s cartographer 3D mapping by continuous-time SLAM. In: Proceedings of the 7th ISPRS International Workshop 3D-ARCH 2017: “3D Virtual Reconstruction and Visualization of Complex Architectures”, ISPRS Archives Photogrammetry and Remote Sensing Spatial Information Science, vol. XLII/W3, pp. 543–549, Nafplio, Greece (2017)
Phidgets Imu Website. https://www.phidgets.com. Accessed 15 Apr 2020
Tate, J.L.: Method and system for measurement of road profile. US Patent 508,558, 14 Nov 1893
Turnigy Park480 Brushless Outrunner. https://hobbyking.com/en_us/turnigy-park480-brushless-outrunner-1320kv.html. Accessed 17 Apr 2020
Vahid Alizadeh, H., Mahjoob, M.J.: Quadratic damping model for a spherical mobile robot moving on the free surface of the water. In: 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE), pp. 125–130 (2011)
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.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-030-71151-1_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-71150-4
Online ISBN: 978-3-030-71151-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)