Final version of advanced autonomous functionalities for ground robots and crawlers
PILOTING project · Zenodo (CERN European Organization for Nuclear Research) · 2023
The main purpose of this document is to present the final version of the algorithms developed with respect to dexterous manipulation, advanced perception and intelligent navigation for autonomous inspection and maintenance for ground robots and crawlers. Moreover, the document describes how the final solutions have been improved from the beta versions described in D5.2 based on the experience from the initial test campaign. These functionalities are targeting firstly refineries with inspection both inside tanks and vessels as well as outside including manipulation of valves. Secondly, autonomous navigation in tunnels for ground vehicles is addressed. A common challenge in these scenarios is the lack of satellite coverage, which makes it necessary to find solutions for localization that do not rely on GNSS to enable autonomous functionality. Therefore, functionalities for perception based on sensors such as LiDARs, cameras and IMUs have been developed to implement the autonomous functions that support the inspection robots in the PILOTING platform. This deliverable is the direct outcome of the work performed within tasks T5.2 (“Dexterous manipulation from ground vehicles”) and T5.4 (“Perception and intelligent navigation for ground robots and crawlers”).