Road Following with Blind Crawling Robot

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Road Following with Blind Crawling Robot

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Road Following with Blind Crawling Robot

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

<a href="/cs/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptivní plánování v úlohách autonomního sběru dat v nestrukturovaném prostředí</a><br>

Návaznosti

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

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název statě ve sborníku

IEEE International Conference on Robotics and Automation

ISBN

978-1-4673-8026-3

ISSN

1050-4729

e-ISSN

—

Počet stran výsledku

6

Strana od-do

3612-3617

Název nakladatele

Institute of Electrical and Electronics Engineers Inc.

Místo vydání

Budapešť

Místo konání akce

Stockholm

Datum konání akce

16. 5. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000389516203021