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Please use this identifier to cite or link to this item: http://hdl.handle.net/10761/1302

Issue Date: 12-Feb-2013
Authors: Mangiameli, Michele
Title: Navigation systems for autonomous robots based on open source gis technologies
Abstract: Man has always dreamed of building artificial beings, which take over tedious or dangerous tasks, with abilities of entertainment and subject to human commands. In everyday language, these artificial beings are called robots . Robots are characterized for the capability to act in the environment using a mechanical locomotion system and to interact with the objects present in the environment using a handling system , or a perceptive capacity to measure parameters relating to their internal state using proprioceptive sensors, and to measure external parameters, using exteroceptive sensors, and the capability to establish an intelligent link between perceptions and actions, using a control system that works taking into account the mechanical constraints of the robot with respect to those inside the environment.There are two fundamental aspects for mobile robotics: the estimation of the robot position in the operating environment and the robotic mapping to acquire spatial models of the physical environment.This aspect is very serious when the operating environment of the robot is unknown. The mapping problem is generally considered as one of the most important challenges in the pursuit of building truly autonomous mobile robots, because it requires the integration of information gathered by the robots sensors into a given representation. So the two central aspects in mapping are the representation of the environment and the interpretation of sensor data. To acquire a map and to estimate its position, a robot should be equipped with sensors that enable it to perceive the outside world. Common sensors usable for this task include cameras, range finders using sonar, laser, and infrared technologies, radar, tactile sensors, compasses, laser scanner and GPS for outdoor applications.The navigation of a robot in an environment for reaching a goal requires the solution of three tasks: mapping, localization, and path planning. In this PhD thesis is the management of the navigation for autonomous mobile robots in outdoor environments using geographic information systems. This technology can be seen as an extension of classical topography but uses advanced functionality for the management of any type of information as a reference spatial and temporal in software environment.The GIS environment has a layered architecture where the raster layer represents the cartographic base georeferenced with topographic algorithms. On the raster base, different vector layers are overlapped as sets of geometric primitives (points, lines, areas, surfaces and volumes) for the representation of real-world phenomena. For this reason, the core of this PhD thesis is the development of a navigation system for autonomous robots based on the GIS technology using cartography and maps geo-referenced with the rigorous approach of geomatics to analyze the satellite positioning data detected by the robot and to manage its navigation accurately. In particular the thesis exploited desktop GIS platforms and developed webGis platforms using free and open source software for optimizing and customizing these platforms. For managing the navigation of the robot and the spatial data, an external spatial DBMS (DataBase Management System) was also developed with free and open source technologies.This PhD thesis aims at developing a navigation system for autonomous robots based on the GIS technology using cartography and maps geo-referenced with the rigorous approach of geomatics to analyze the satellite positioning data detected by the robot and to manage its navigation accurately. In particular, the thesis exploits desktop GIS platforms and develops webGis platforms using free and open source software for optimizing and customizing these platforms. For managing the navigation of the robot and the spatial data, an external spatial DBMS (DataBase Management System) has been also developed with free and open source technologies.
Appears in Collections:Area 09 - Ingegneria industriale e dell'informazione

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MNGMHL81A22C351Y-PhD_Thesis_Mangiameli_Michele.pdf" Navigation systems for autonomous robots based on open source GIS technologies", Ph.D. thesis, Michele Mangiameli11,09 MBAdobe PDFView/Open


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