Autonomous flipper control for a tracked robot using 2D vertical laser scan

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00211791" target="_blank" >RIV/68407700:21230/12:00211791 - isvavai.cz</a>

Výsledek na webu

<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Sedlacek-TR-2012-11.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Sedlacek-TR-2012-11.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous flipper control for a tracked robot using 2D vertical laser scan

Popis výsledku v původním jazyce

This work describes a Robot Operating System (ROS) module for automatic flipper adaptation during obstacle traversal with the tracked NIFTi robot. This module is intended to relieve the robot operator from the difficult task of remotely controlling all four flippers by adjusting the flippers automatically. The operator may decide to switch on the automatic mode part of the time for example during a staircase traversal. The algorithm does not model the terrain explicitly. It measures the terrain profileby a vertically positioned 2D laser scanner mounted on the front of the robot. The main goal is to achieve the flippers touch the ground in order to maintain robot's stability. The proposed algorithm has been successfully tested on traversing staircases,curbs, rails and various other obstacles of different shapes.

Název v anglickém jazyce

Autonomous flipper control for a tracked robot using 2D vertical laser scan

Popis výsledku anglicky

This work describes a Robot Operating System (ROS) module for automatic flipper adaptation during obstacle traversal with the tracked NIFTi robot. This module is intended to relieve the robot operator from the difficult task of remotely controlling all four flippers by adjusting the flippers automatically. The operator may decide to switch on the automatic mode part of the time for example during a staircase traversal. The algorithm does not model the terrain explicitly. It measures the terrain profileby a vertically positioned 2D laser scanner mounted on the front of the robot. The main goal is to achieve the flippers touch the ground in order to maintain robot's stability. The proposed algorithm has been successfully tested on traversing staircases,curbs, rails and various other obstacles of different shapes.

Druh

O - Ostatní výsledky

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2012

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů