Gyroscopic Stabilizer for 3D Mapping Device on Unmanned Ground Vehicle
J. V. T. Arias, P. J. L. Eguia, N. T. H., C. Z. M. Lacorte, Anton Louise Pernez De Ocampo · 2018
Unmanned vehicle systems used in 3D mapping applications are challenged with camera shake blurring due to mechanical vibrations. In this paper, the use of gyroscopic stabilizer as a mechanical interface of a 3D mapping device to an unmanned ground vehicle is presented. The main objective is to reduce the mechanical vibrations due to uneven terrain and motor operations while 3D mapping. A custom-made UGV without any form of mechanical damper on its wheels is developed. The UGV is allowed to traverse an artificial terrain while the 3D mapping device is mounted atop a vibration isolator. The vibration analysis shows that the acceleration spectral density (ASD) reaches $1.56G_{rms}^2/Hz$ without the stabilizer installed. Upon installation of gyroscopic stabilizer interface between the 3D mapping device and the UGV, the maximum recorded ASD is reduced to about $0.82G_{rms}^2/Hz$.