This paper presents a navigation system which is able to steer an electronically controlled ground vehicle to given destinations considering all obstacles in its vicinity. The approach is designed for vehicles without a velocity controlled drivetrain and without an odometry system, making it especially useful for typical remote-controlled vehicles without upgrading the motor controllers. The vehicle is controlled by sets of commands, each set is representing a specific maneuver. These sets are then combined in a tree-building procedure to form trajectories towards the given destination. While the sets of commands are executed the vehicle's movement is measured to refine the prediction used for path generation. This enables the approach to adapt to surface alterations. The technique requires a precise position estimation, which is provided in the implementation by a 3D laser mapping based relative localization system. The approach was tested using a 400 kg EOD robot in an outdoor environment. The experiments confirmed that the navigation system is able to control the robot to its destination while avoiding obstacles and adapting to different ground surfaces.


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    Title :

    Offroad navigation using adaptable motion patterns


    Contributors:


    Publication date :

    2010


    Size :

    6 Seiten, 6 Bilder, 12 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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