Abstract:This paper presents a novel methodology for localization and terrain mapping along a defined course such as narrow tunnels and pipes, using a redundant unmanned ground vehicle kinematic design. The vehicle is designed to work in unknown environments without the use of external sensors. The design consists of two platforms, connected by a passive, semi-rigid three-bar mechanism. Each platform includes separate sets of local sensors and a controller. In addition, a central controller logs the data and synchroniz… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.