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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| Format: | Dissertation |
| Language: | English |
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University of Cape Town
2019
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| Online Access: | http://hdl.handle.net/11427/29474 |