Optimal state estimation for a power line inspection robot

Following a paper published by E. Boje[1], this thesis discusses the design and off-line testing of different types of Kalman filters to estimate the attitude, position and velocity of a robotic platform moving along a power line. The nature of this problem limits the use of magnetometers. Magnetic...

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Bibliographic Details
Main Author: Soobhug, Divij
Other Authors: Boje, Edward
Format: Dissertation
Language:English
Published: University of Cape Town 2019
Subjects:
Online Access:http://hdl.handle.net/11427/29474