Developing capabilities of accurate locating and object avoidance of an autonomous rover : Applicability of LiDAR rangefinder and RTK NTRIP technology in the conditions of an athletics event

Abstract

Autonomous robots are a subtype of robotics with a wide range of applications in industry, military, warehousing and many other fields of activity. Key needs and challenges for autonomous operations include sensor data processing, location capability, and the ability to detect and avoid collisions with other physical objects. In this study a prototype of a self-propelled vehicle that can be used to return throwing equipment at athletics competitions was further developed. The research started from a platform that was devised in the previous project, utilizing ArduRover autopilot software and a PixHawk flight control unit. In order to utilize the prototype at athletics events, it must be able to locate itself more accurately than conventional GPS positioning allows and to detect and circumvent physical obstacles on the athletics field. The study experimented with improving satellite positioning accuracy with RTK technology and target detection with a LiDAR rangefinder. The research builds on the V-model for system development, prototyping and risk assessment methods (ISO-12100). The result of the study was a prototype that, under ideal conditions, is able to dodge objects independently, but whose production use requires further development to ensure adequate safety. A list of 9 recommendations for future work was aggregated as a guideline to this development.