Robot assisted floor surface mapping and modelling for prediction of grind finish : submitted to the School of Engineering and Advanced Technology in partial fulfillment of the requirements for the degree of Master of Engineering, Mechatronics, at Massey University, Auckland
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Date
2018
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Massey University
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Abstract
Mapping and localisation is a fundamental aspect of mobile robotics as all robots must
successfully know their surroundings and location for navigation and manipulation. For
some navigation tasks, prior knowledge of the 3D environment, in particular the 3D surface
profile, can greatly improve navigation and manipulation tasks such as contacting, sensor
inspecting, terrain traversability, and modifications. This thesis presents the investigation
into the capability of cheap and accessible sensors to capture the floor surface information
and assesses the ability for the 3D representation of the floor to be used as prior knowledge
for a model. A differential drive robotic platform was developed to perform testing and
conduct the research. 2D localisation methods were extrapolated into 3D for the floor
capturing process. The robotic system was able to successfully capture the floor surface
profile of a number of different type floors such as carpet, asphalt, and a coated floor.
Two different types of sensor, a 2D laser scanner and an RGB-D camera, were used for
comparison of the floor capture ability. A basic model was developed to estimate the floor
surface information. The captured surface was used as prior knowledge for the model, and
testing was performed to validate the devised model. The model performed well in some
areas of the floor, but requires further development to improve the performance. Further
validation testing of the system is required, and the system can be improved by improvement
of 3D localisation, minimisation of sensor errors, and further testing into the application.
Description
Figures 2-3 and 2-4 & 2-5 removed from thesis but accessible via Stoyanov et al., 2010 Fig 2 and Zhang et al., 2017 Figs 1 & 13. Appendix A also removed but published as Wilson, S., Potgieter, J., & Arif, Khalid. (2017). Floor surface mapping using mobile robot and 2D laser scanner. In 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) (pp. 142-147). IEEE. doi: 10.1109/M2VIP.2017.8211508
Keywords
Floors, Concrete, Grinding and polishing, Three-dimensional modeling, Mobile robots