Road Following with Blind Crawling Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00307169" target="_blank" >RIV/68407700:21230/16:00307169 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7487544/" target="_blank" >http://ieeexplore.ieee.org/document/7487544/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2016.7487544" target="_blank" >10.1109/ICRA.2016.7487544</a>
Alternative languages
Result language
angličtina
Original language name
Road Following with Blind Crawling Robot
Original language description
In this paper, we consider road following to autonomously navigate a mobile robot through an environment while keeping the robot on the specified road. Contrary to existing approaches based on a forward looking camera, we consider the problem for a technically blind walking robot without any exteroceptive sensors. The only feedback considered is an estimation of tactile information that is determined from the robot servo drives. The proposed control law is based on an on-line classification of the previously learned terrains which is utilized to identify a situation when a robot starts to crawl off the desired road terrain. The controller steers the robot to keep its body and all its legs on the road while crawling forward with a constant velocity. The experimental results support feasibility of the proposed minimalistic approach and allows the robot to autonomously navigate in an outdoor environment and follow urban park pathways and avoid off-road parts.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE International Conference on Robotics and Automation
ISBN
978-1-4673-8026-3
ISSN
1050-4729
e-ISSN
—
Number of pages
6
Pages from-to
3612-3617
Publisher name
Institute of Electrical and Electronics Engineers Inc.
Place of publication
Budapešť
Event location
Stockholm
Event date
May 16, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000389516203021