Falling in line: Visual route following on extreme terrain for a tethered mobile robot
| Autor: | Max Polzin, Patrick McGarey, Timothy D. Barfoot |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Controller (computing) 010401 analytical chemistry Terrain Mobile robot 02 engineering and technology Bang-bang robot 01 natural sciences 0104 chemical sciences Robot control 020901 industrial engineering & automation Obstacle Trajectory Robot Computer vision Artificial intelligence business Simulation |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2017.7989234 |
| Popis: | This paper describes visual route following for a cliff-climbing, tethered mobile robot for the purpose of autonomously traversing extreme terrain in the presence of obstacles. When the robot's tether contacts an obstacle, an intermediate anchor is formed. In order to detach from intermediate anchors and avoid entanglement, the robot must backtrack along its outgoing trajectory. We use the Visual Teach & Repeat (VT&R) algorithm to autonomously repeat a manually taught path. However, our problem is complicated by the fact that the robot's tether must (i) remain taut regardless of inclination, (ii) allow the robot to drive freely, and (iii) provide motion assistance when wheel traction is reduced on steep slopes. To enable visual route following over varied terrain, we have developed a novel tether controller that selects a safe, steady-state tension based on the robot's inclination while also accounting for vehicle motion. Experiments are performed on our Tethered Robotic Explorer (TReX), which autonomously repeats paths while tethered in both flat-indoor and steep-outdoor environments in the presence of obstacles. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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