Müller, Rolf Hendrik (2004)
Implementierung eines Navigations-Kalman-Filters für die mobile Robotik in Echtzeit.
Technische Universität Darmstadt
Diplom- oder Magisterarbeit, Bibliographie
Kurzbeschreibung (Abstract)
In the course of several seminar papers and diploma theses, the mobile robot of the Control Theory and Robotics Laboratory was equipped with various navigational sensors. For the fusion of the sensor data a Kalman-Filter was developed. The most recent diploma thesis by Martin Kallnik Kallnik 2004 leads to a navigational program, that combines the results of previous investigations into a single software. This program Syncaria, was developed so that new sensors could be integrated easily. This diploma thesis deals with the implementation of a Kalman-Filter for Syncaria. First of all, the thesis developed by Inna Mikhailova Mikhailova 2002 is embedded into Syncaria. The implementation is a modular approach, in order to be capable to install further sensors into the Kalman-Filter easily. Besides odometry and gyroscope, the Kalman-Filter can finally process the data from ultrasonic sensors and ultrasonic based trilateration system LoPS. All necessary calculations on the robot run in real time.
| Typ des Eintrags: | Diplom- oder Magisterarbeit |
|---|---|
| Erschienen: | 2004 |
| Autor(en): | Müller, Rolf Hendrik |
| Art des Eintrags: | Bibliographie |
| Titel: | Implementierung eines Navigations-Kalman-Filters für die mobile Robotik in Echtzeit |
| Sprache: | Deutsch |
| Publikationsjahr: | April 2004 |
| Ort: | Darmstadt |
| Kurzbeschreibung (Abstract): | In the course of several seminar papers and diploma theses, the mobile robot of the Control Theory and Robotics Laboratory was equipped with various navigational sensors. For the fusion of the sensor data a Kalman-Filter was developed. The most recent diploma thesis by Martin Kallnik Kallnik 2004 leads to a navigational program, that combines the results of previous investigations into a single software. This program Syncaria, was developed so that new sensors could be integrated easily. This diploma thesis deals with the implementation of a Kalman-Filter for Syncaria. First of all, the thesis developed by Inna Mikhailova Mikhailova 2002 is embedded into Syncaria. The implementation is a modular approach, in order to be capable to install further sensors into the Kalman-Filter easily. Besides odometry and gyroscope, the Kalman-Filter can finally process the data from ultrasonic sensors and ultrasonic based trilateration system LoPS. All necessary calculations on the robot run in real time. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 26 Jun 2019 11:53 |
| Letzte Änderung: | 26 Jun 2019 11:53 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum