| 1. |
|
|
| 2. |
|
|
| 3. |
|
|
| 4. |
|
|
| 5. |
- Helmick, D., et al.
(författare)
-
Experimental Results from a Terrain Adaptive Navigation System for Planetary Rovers
- 2008
-
Ingår i: Proceedings of the Ninth International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS.
-
Konferensbidrag (refereegranskat)abstract
- Results from the experimental testing of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav) are shown here. This system was designed to enable greater access to and more robustoperations in terrains with widely varying slippage.The system achieves this goal by using onboard stereocameras to remotely classify terrain, predict the slippage of that terrain, and use this information in the planning of a path to the goal. An end-to-end onboard demonstration of the system in a Mars analog environment is shown with promising results.
|
|
| 6. |
- Iagnemma, Karl, et al.
(författare)
-
Design and Development of an Agile, Man Portable Unmanned Ground Vehicle
- 2008
-
Ingår i: Proceedings of the 26th Annual Army Science Conference. ; , s. 1-8
-
Konferensbidrag (refereegranskat)abstract
- An omnidirectional unmanned ground vehicle (UGV)is able to move in any planar direction regardless of itscurrent pose. To date, nearly all designs and analyses ofomnidirectional robots have considered the case ofmotion on flat, smooth terrain. This paper presents thedesign, analysis, and prototype development of a manportable omnidirectional UGV designed for operation inrough terrain. Design guidelines are presented that arederived from geometric constraints on wheel and linkagesizes. The effects of terrain roughness and loss of wheelcontact on UGV mobility are also analyzed.Aframework for UGV design optimization is presented thatconsiders vehicle kinematic isotropy, wheel-terraininteraction properties, predicted obstacle traversability,and maximum traversable distance over various outdoorterrain types. The results are used to design two small(i.e. 1m characteristic length), lightweight (i.e.approximately 25 kg) UGV prototypes.
|
|
| 7. |
- Iagnemma, Karl, et al.
(författare)
-
Near-Optimal Navigation of High Speed Mobile Robots on Uneven Terrain
- 2008
-
Ingår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Vols 1-3. - Piscataway, N.J. : IEEE Press. - 9781424420582 ; , s. 4098-4103
-
Konferensbidrag (refereegranskat)abstract
- This paper proposes a method for near-optimal navigation of high speed mobile robots on uneven terrain. The method relies on a layered control strategy. A high-level planning layer generates an optimal desired trajectory through uneven terrain. A low-level navigation layer guides a robot along the desired trajectory via a potential field-based control algorithm. The high-level planner is guaranteed to yield optimal trajectories but is computationally intensive. The low-level navigation layer is sub-optimal but computationally efficient. To guard against failures at the navigation layer, a model-based lookahead approach is employed that utilizes a reduced form of the optimal trajectory generation algorithm. Simulation results show that the proposed method can successfully navigate a mobile robot over uneven terrain while avoiding hazards. A comparison of the method's performance to a similar algorithm is also presented. ©2008 IEEE.
|
|
| 8. |
- Kewlani, Gaurav, et al.
(författare)
-
A Stochastic Response Surface Approach to Statistical Prediction of Mobile Robot Mobility
- 2008
-
Ingår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - Piscataway, N.J. : IEEE Press. ; , s. 2234-2239
-
Konferensbidrag (refereegranskat)abstract
- The ability of autonomous or semi-autonomous mobile robots to rapidly and accurately predict their mobility characteristics is an important requirement for their use in unstructured environments. Most methods for mobility prediction, however, assume precise knowledge of environmental (i.e. terrain) properties. In practical conditions, significant uncertainty is associated with terrain parameter estimation from robotic sensors, and this uncertainty must be considered in a mobility prediction algorithm. Here a method for efficient mobility prediction based on the stochastic response surface approach is presented that explicitly considers terrain parameter uncertainty. The method is compared to a Monte Carlo-based method and simulations show that the stochastic response surface approach can be used for efficient, accurate prediction of mobile robot mobility. ©2008 IEEE.
|
|
| 9. |
- Kewlani, Gaurav, et al.
(författare)
-
Mobility prediction for unmanned ground vehicles in uncertain environments
- 2008
-
Ingår i: Unmanned systems technology X. - Bellingham, WA : SPIE - International Society for Optical Engineering. - 9780819471536 ; , s. Article number 69621G-
-
Konferensbidrag (refereegranskat)abstract
- The ability of autonomous unmanned ground vehicles (UGVs) to rapidly and effectively predict terrain negotiability is a critical requirement for their use on challenging terrain. Most methods for assessing traversability, however, assume precise knowledge of vehicle and terrain properties. In practical applications, uncertainties are associated with the estimation of the vehicle/terrain parameters, and these uncertainties must be considered while determining vehicular mobility. Here a computationally inexpensive method for efficient mobility prediction based on the stochastic response surface (SRSM) approach is presented that considers imprecise knowledge of terrain and vehicle parameters while analyzing various metrics associated with UGV mobility. A conventional Monte Carlo method and the proposed response surface methodology have been applied to two simulated cases of mobility analysis, and it has been shown that the SRSM method is an efficient tool as compared to conventional Monte Carlo methods for the analysis of vehicular mobility in uncertain environments.
|
|
| 10. |
- Peters, Steven C., et al.
(författare)
-
Mobile robot path tracking of aggressive maneuvers on sloped terrain
- 2008
-
Ingår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - Piscataway, N.J. : IEEE Robotics and Automation Society. - 9781424420582 ; , s. 242-247
-
Konferensbidrag (refereegranskat)abstract
- Path tracking control on non-flat terrain is an important capability of mobile robots operating in outdoor environments. A path tracking controller based on the model predictive control (MPC) framework is presented that explicitly considers terrain geometry and actuator limitations. The controller performance is studied with three vehicle dynamic models in a high-fidelity ADAMS simulation. The effect of model order on path tracking performance on flat terrain and sloped terrain is evaluated. It is shown that improved performance can be obtained by explicitly considering terrain effects. ©2008 IEEE.
|
|
