Robbie: A Fully Autonomous Robot for RoboCupRescue
| Autor: | Dietrich Paulus, David Gossow, Johannes Pellenz |
|---|---|
| Rok vydání: | 2009 |
| Předmět: |
Engineering
Occupancy grid mapping business.industry Testbed Autonomous robot Computer Science Applications Human-Computer Interaction Hardware and Architecture Control and Systems Engineering Obstacle Path (graph theory) Robot Computer vision Artificial intelligence Motion planning Particle filter business Software |
| Zdroj: | Advanced Robotics. 23:1159-1177 |
| ISSN: | 1568-5535 0169-1864 |
| Popis: | One of the goals of the RoboCupRescue competition is to provide a standardized testbed for robots that can autonomously navigate in unknown and unstructured environments. This paper describes in detail our contribution to the competition: Robbie. The robot uses an active sensing approach, so the sensors are adjusted or configured before the data is readout, depending on the task or other sensor readings. A map is generated on the fly using the two-dimensional (2-D) distance measurements of a gimbaled laser range finder (LRF). The measured data are fused in an occupancy grid using a combination of scan matching and particle filter. The same LRF generates 3-D scans for the obstacle detection. The result of the obstacle detection and also the current 2-D laser scan are blended into the 2-D map. This new map is the basis for the path planning, where we developed the so-called Exploration Transform that combines the frontier-based exploration with the path transform. While navigating, the planned path is const... |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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