Surface rover functionalities and specifications Sample Clauses

Surface rover functionalities and specifications. The surface rover of BADGER will be responsible for the construction of an initial 3D metric map of the operational area and for providing assistance in the localization of the underground robot. The rover will navigate above the underground robot’s operational area and as shown in Figure 14, it will use a stereo camera for visual odometry and surface mapping (enabling its own localization), as well as a surface GPR for the detection of underground objects and utilities. By registering the surface GPR measurements on the basis of the rover’s localization outcome, the 3D subsurface map will be developed. This map will be the initial representation of the underground robot’s operational environment, which will be later on, during the robot’s operation, refined through underground SLAM. During the robot’s operation, the surface rover will be responsible, either through its GPR or further sensors (e.g. beacons) to facilitate the localization of the underground robot. The above tasks will be realized by five functionalities and their corresponding hardware components (Table 10) as described in the following subsections. 3D Surface Mapping ✓ Surface Rover Localization ✓ ✓ Surface Rover Navigation ✓ ✓ 3D Subsurface Mapping ✓ Underground Robot Localization ✓ ✓ These hardware components will be installed on a surface rover with the specifications showed in Table 11. Dimensions 731 x 578 x 440 mm Weight 65 Kg Load capacity 65 Kg Speed 3 m/s Water resistance IP54 Operating temperature range -20 - +50 ºC
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