Tracked Robot Odometry for Obstacle Traversal in Sensory Deprived Environment
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00336122" target="_blank" >RIV/68407700:21230/19:00336122 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/19:00336122
Result on the web
<a href="https://doi.org/10.1109/TMECH.2019.2945031" target="_blank" >https://doi.org/10.1109/TMECH.2019.2945031</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TMECH.2019.2945031" target="_blank" >10.1109/TMECH.2019.2945031</a>
Alternative languages
Result language
angličtina
Original language name
Tracked Robot Odometry for Obstacle Traversal in Sensory Deprived Environment
Original language description
Mobile-tracked robots are suitable for traversing rough terrain. However, standard exteroceptive localization methods (visual or laser SLAM) may be unreliable due to smoke, dust, fog, or insufficient lighting in harsh conditions of urban search and rescue missions. During extensive end-user evaluations in real-world conditions of such scenarios, we have observed that the accuracy of dead-reckoning localization suffers while traversing vertical obstacles. We propose to combine explicit modeling of robot kinematics and data-driven approach based on machine learning. The proposed method is experimentally verified indoors and outdoors traversing various obstacles. Indoors, a reference position has been recorded as well to assess the accuracy of our solution. The experimental dataset is released to the public to help the robotics community.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN
1083-4435
e-ISSN
1941-014X
Volume of the periodical
24
Issue of the periodical within the volume
6
Country of publishing house
US - UNITED STATES
Number of pages
11
Pages from-to
2745-2755
UT code for WoS article
000506621800029
EID of the result in the Scopus database
2-s2.0-85077814262