Jump to Content
  1. Oxford
  2. MPLS
  3. Eng. Sci.
  4. ORI

Estimation, Search, and Planning (ESP) Research Group

Evaluation of a mobile platform for proof-of-concept site selection and preparation

Author
Jonathan D. Gammell
Publication Date
Abstract

A mobile robotic platform for Autonomous Site Selection and Preparation (ASSP) was developed for an analogue deployment to Mauna Kea, Hawai‘i. A team of rovers performed an autonomous Ground Penetrating Radar (GPR) survey and constructed a level landing pad. They used interchangeable payloads that allowed the GPR and blade to be easily exchanged. Autonomy was accomplished by integrating the individual hardware devices with software based on the ArgoSoft framework previously developed at UTIAS. The rovers were controlled by an on-board netbook. The successes and failures of the devices and software modules are evaluated within. Recommendations are presented to address problems discovered during the deployment and to guide future research on the platform.

Publication Details
Type
Master’s Thesis
Institution
University of Toronto
Digital Object Identifier DOI
1807/25591
Manuscript
Google Scholar Google Scholar
Google Scholar
BibTeX Entry
@mastersthesis{gammell_masc10,
author = {Jonathan D Gammell},
title = {Evaluation of a mobile platform for proof-of-concept site selection and preparation},
school = {University of Toronto},
year = {2010},
month = nov,
doi = {1807/25591},
}