Proceedings ArticleDOI
Path tracking, obstacle avoidance and position estimation by an autonomous, wheeled planetary rover
D.N. Green,Jurek Z. Sasiadek,G.S. Vukovich +2 more
- pp 1300-1305
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This paper presents a set of algorithms for piloting an autonomous planetary rover along a planned path, performing obstacle avoidance, and improving position estimation.Abstract:
This paper presents a set of algorithms for piloting an autonomous planetary rover along a planned path, performing obstacle avoidance, and improving position estimation. Path-tracking is accomplished using feedback-control of position and orientation errors, measured with respect to the planned path trajectory. Obstacle-avoidance is performed through application of an artificial potential field, to data that can be acquired using a scanning rangefinder. Position and velocity estimation is improved by the algorithmic filtering and fusing of odometry and inertial navigation data streams. Results from computer simulation are used to illustrate the path-tracking and obstacle-avoidance capabilities, and experimental data is used to illustrate how sensor fusion mitigates the effects of wheel-slippage and integration-error in position and velocity estimation. >read more
Citations
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Journal ArticleDOI
Autonomous Rover Navigation on Unknown Terrains
Simon Lacroix,Anthony Mallet,David Bonnafous,Gérard Bauzil,Sara Fleury,Matthieu Herrb,Raja Chatila +6 more
TL;DR: This paper briefly reviews some functionalities that have been developed in the laboratory, and implemented on board the Marsokhod model robot, Lama, and presents how the various concurrent instances of the perception, localization and motion generation functionalities are integrated.
Journal ArticleDOI
Fuzzy target tracking control of autonomous mobile robots by using infrared sensors
TL;DR: The theme of this paper is to design a real-time fuzzy target tracking control scheme for autonomous mobile robots by using infrared sensors, which consists of a behavior network and a gate network.
Proceedings ArticleDOI
Reactive navigation in outdoor environments using potential fields
TL;DR: The paper presents an approach to reactive navigation in cross-country terrains that relies on a particular probabilistic obstacle detection procedure, that describes the area perceived by a pair of stereo cameras as a set of polygonal cells.
Book ChapterDOI
Autonomous Rover Navigation on Unknown Terrains Functions and Integration
Simon Lacroix,Anthony Mallet,David Bonnafous,Gérard Bauzil,Sara Fleury,Matthieu Herrb,Raja Chatila +6 more
TL;DR: Some functionalities that are currently running on board the Marsokhod model robot Lama at LAAS/CNRS are described, and the necessity to integrate various instances of the perception and decision functionalities is focused on.
Vector pursuit path tracking for autonomous ground vehicles
Jeffrey S. Wit,Carl D. Crane +1 more
TL;DR: In this article, a vector pursuit path-tracking method and two fuzzy reference model learning controllers (FRMLCs) are implemented to execute the vehicle s desired turning rate and speed.
References
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Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Journal ArticleDOI
Motor Schema — Based Mobile Robot Navigation
TL;DR: A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot and demonstrates the feasibility of this approach.
Book
Robot planning and control via potential functions
TL;DR: There mingle in the contemporary field of robotics a great many disparate currents of thought from a large variety of disciplines, but one circle of ideas intrinsically binds action and intention together in the description of the robot’s task.
Proceedings ArticleDOI
Autonomous navigation and mobility for a planetary rover
TL;DR: In this article, an overview of the onboard subsystems that will be used in guiding a planetary rover is presented, with particular emphasis on the planning and sensing systems and their associated costs, particularly in computation.
Proceedings ArticleDOI
Mars Rover Concept Development
TL;DR: During the course of this study, over 300 mobility concepts and more than 400 navigation concepts generated during a series of brainstorming sessions evolved into three promising candidate systems.
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