用小型探索机器人绘制火星洞穴的二维地图

2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON) Pub Date : 2017-08-01 DOI:10.1109/INTERCON.2017.8079721

Orlando Francois Gonzales Palacios, Selim Haj Salah

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引用次数: 1

摘要

火星上的洞穴是人类探险者殖民地的安全栖息地，为科学家提供了有价值的信息。不幸的是，这些洞穴的内部还不够清楚，但现在研究人员已经提议派遣多机器人小组来探索这个地下。本文支持这一倡议，即开发专门用于映射的探索性机器人。此外，我们还使用了硬件raspperry - pi 3, DFRduino Romeo和RPLidarA1，以及软件Matlab, Hector_SLAM-ROS, Ubuntu 14.04。从传感器获得的信息由ROS处理，并以文件的形式导出。在Matlab中平滑二维地图。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mapping marsian caves in 2D with a small exploratory robot

The caves in Mars are a safe habitat for a colony of human explorers and provide valuable information for the scientists. Unfortunately, the interiors of these caves are not known enough, but nowadays investigators have proposed to send Multi-robot teams for exploration of this subsurface. This article supports this initiative developing exploratory robots specialized in mapping. We worked with the hardware Rasperry-Pi 3, DFRduino Romeo and RPLidarA1 in addition, and with the softwares Matlab, Hector_SLAM-ROS, Ubuntu 14.04. There was information obtained from the sensor which is processed by ROS and that information was exported in a file. dat to smooth the map 2D in Matlab.

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2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON)

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