Mobile Robot Self-Localization with 2D Push-Broom LIDAR in a 2D Map

Palacín, Jordi; Martínez, David; Rubies, Elena; Clotet, Eduard

doi:10.3390/s20092500

Cited by 26 publications

(20 citation statements)

References 33 publications

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“…This configuration uses the weight of the three internal batteries and the central tower in order to create an effective spring-mass system that minimizes the existence of vibrations in the head of this tall mobile robot. The development of this optimized passive suspension system fostered the development of applications that take advantage of the mobility achieved by the omnidirectional motion system of the APR-02 mobile robot: In [ 23 ] this mobile robot was proposed for early gas detection and location, in [ 24 ] this mobile robot was used as a walk-helper tool, and in [ 25 ] this mobile robot was used to evaluate the use of a fixed push-broom 2D Light Detection and Ranging (LIDAR) for Simultaneous Location and Mapping (SLAM).…”

Section: Methodsmentioning

confidence: 99%

Suboptimal Omnidirectional Wheel Design and Implementation

Palacín

Martínez

Rubies

et al. 2021

Sensors

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The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its passive suspension system in order to also use non-optimal or suboptimal omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of taking advantage of the gap to operate outdoors. The experimental part of this paper compares the vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces comparable on-board vibration patterns while maintaining the traction and increasing the grip on non-perfect planar surfaces.

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Section: Methodsmentioning

confidence: 99%

Suboptimal Omnidirectional Wheel Design and Implementation

Palacín

Martínez

Rubies

et al. 2021

Sensors

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“…This motorization includes a brushed DC motor, a 1:64 planetary gearbox (in the front) and a low-cost magnetic quadrature encoder (in the back) directly attached to the motor shaft. The motor operates at 12 V and the gearbox can generate 6 Nm with a power consumption of 57.6 W. Figure 1 shows an image of this compact motor that has been used intensively by the authors in the motion system of several mobile robots [16][17][18][19]. Figure 2 shows a detailed image of the low-cost magnetic encoder of this compact motor.…”

Section: Brushed DC Motor With a Low-cost Magnetic Encodermentioning

confidence: 99%

Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments

Palacín

Martínez

2021

Sensors

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This paper proposes a method to improve the angular velocity measured by a low-cost magnetic rotary encoder attached to a brushed direct current (DC) motor. The low-cost magnetic rotary encoder used in brushed DC motors use to have a small magnetic ring attached to the rotational axis and one or more fixed Hall-effect sensors next to the magnet. Then, the Hall-effect sensors provide digital pulses with a duration and frequency proportional to the angular rotational velocity of the shaft of the encoder. The drawback of this mass produced rotary encoder is that any structural misalignment between the rotating magnetic field and the Hall-effect sensors produces asymmetric pulses that reduces the precision of the estimation of the angular velocity. The hypothesis of this paper is that the information provided by this low-cost magnetic rotary encoder can be processed and improved in order to obtain an accurate and precise estimation of the angular rotational velocity. The methodology proposed has been validated in four compact motorizations obtaining a reduction in the ripple of the estimation of the angular rotational velocity of: 4.93%, 59.43%, 76.49%, and 86.75%. This improvement has the advantage that it does not add time delays and does not increases the overall cost of the rotary encoder. These results showed the real dimension of this structural misalignment problem and the great improvement in precision that can be achieved.

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“…The work in [ 5 ] proposes a novel mobile robot self-localization based on an onboard 2D push-broom (or tilted-down) LiDAR using a reference 2D map previously obtained with a 2D horizontal LiDAR. The motivation to tilt-down a 2D LiDAR is the direct detection of holes or small objects placed on the ground that remain undetected for a fixed horizontal 2D LiDAR.…”

Section: Summary Of the Special Issuementioning

confidence: 99%