Collision Avoidance for ATEROS Robotic System

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F19%3APU131967" target="_blank" >RIV/00216305:26220/19:PU131967 - isvavai.cz</a>
Result on the web
<a href="http://www.feec.vutbr.cz/conf/EEICT/archiv/sborniky/EEICT_2019_sbornik.pdf" target="_blank" >http://www.feec.vutbr.cz/conf/EEICT/archiv/sborniky/EEICT_2019_sbornik.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Collision Avoidance for ATEROS Robotic System
Original language description
This paper describes the details of a collision avoidance algorithm for an ATEROS robotic system. The solution, developed and tested on the Orpheus robotic platform is based on a Velodyne HDL-32E laser scanner. The LiDAR point cloud input data are filtered to remove data redundancy and clustered to separate possible collision objects from the background. Based on prior environment knowledge and the current LiDAR scan, the surrounding occupancy grid map is estimated, and the planned path is validated against possible collision. In the case of a non-zero probability that the robot collides with an obstacle, a new path is proposed by the A* algorithm. Subsequently, the newly estimated waypoints are relaxed, and the mission plan is updated.
Czech name
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Czech description
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Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 25thConference STUDENT EEICT 2019
ISBN
978-80-214-5735-5
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
576-580
Publisher name
Vysoké učení technické vBrně, Fakulta elektrotechniky a komunikačních technologií
Place of publication
Brno
Event location
Brno
Event date
Apr 25, 2019
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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