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检索条件"丛书名=Springer Tracts in Advanced Robotics"

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Autonomous excavation using a rope shovel 5th

Autonomous excavation using a rope shovel

引用

5th International Conference on Field and Service robotics

作者： Dunbabin, Matthew Corke, Peter CSIRO ICT Ctr POB 883 Kenmore Qld 4069 Australia

ISBN: (纸本)3540334521

This paper describes automation of the digging cycle of a mining rope shovel which considers autonomous dipper (bucket) filling and determining methods to detect when to disengage the dipper from the bank. Novel techniques to overcome dipper stall and the online estimation of dipper "fullness" are described with in-field experimental results of laser DTM generation, machine automation and digging using a 1/7th scale model rope shovel presented.

关键词： Rope

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Road obstacle detection using robust model fitting 5th

Road obstacle detection using robust model fitting

引用

5th International Conference on Field and Service robotics

作者： Gheissari, Niloofar Barnes, Nick Natl ICT Australia Autonomous Syst & Sensing Technol Locked Bag 8001 Canberra ACT 2601 Australia Australian Natl Univ Dept Informat Engn Canberra ACT 0200 Australia

ISBN: (纸本)3540334521

Awareness of pedestrians, other vehicles, and other road obstacles is key to driving safety, and so their detection is a critical need in driver assistance research. We propose using a model-based approach which can either directly segment the disparity to detect obstacles or remove the road regions from an already segmented disparity map. We developed two methods for segmentation: first, by directly segmenting obstacles from the disparity map;and, second by using morphological operations followed by a robust model fitting algorithm to reject road segments after the segmentation process. To test the success of our methods, we have tested and compared them with an available method in the literature.

关键词： Roads and streets

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Online reconstruction of vehicles in a car park 5th

Online reconstruction of vehicles in a car park

引用

5th International Conference on Field and Service robotics

作者： Keat, Christopher Tay Meng Pradalier, Cedric Laugier, Christian INRIA Rhone Alpes GRAVIR Lab F-38334 Saint Ismier France CSIRO ICT Ctr Canberra ACT Australia

ISBN: (纸本)3540334521

In this paper, a method of obtaining vehicle hypothesis based on laser scan data only is proposed. This is implemented on the robotic vehicle, CyCab, for navigation and mapping of the static car park environment. Laser scanner data is used to obtain hypothesis on position and orientation of vehicles with Bayesian Programming. Using the hypothesized vehicle poses as landmarks, CyCab performs Simultaneous Localization And Mapping (SLAM). A final map consisting of the vehicle positions in the car park is obtained.

关键词： vehicle detection Bayesian programming

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Automated inspection system for large underground concrete pipes under operating conditions 5th

Automated inspection system for large underground concrete p...

引用

5th International Conference on Field and Service robotics

作者： Elkmann, Norbert Reimann, Bert Schulenburg, Erik Althoff, Heiko Fraunhofer Inst IFF Magdeburg Germany Emschergenossenschaft Essen Germany

ISBN: (纸本)3540334521

The Emschergenossenschaft based in Germany is currently planning the Emscher sewer system, arguably the largest residential water management project in Europe in years to come. In 2002, the Emschergenossenschaft engaged the Fraunhofer Institute for Factory Operation and Automation (IFF) in Magdeburg, Germany as the general contractor to develop automatic inspection and cleaning systems to meet the requirements stipulated by the legal guidelines. The systems must operate continuously in a sewer line, which has diameters ranging from 1400 to 2800 mm and is partially filled, 25% at minimum, all the time. To construct the Emscher sewer system, the Emschergenossenschaft favors a one-pipe line in long sections. A walk-through or inspection by personnel is impossible in every phase. The Fraunhofer Institute IFF has completed an extensive concept study for the inspection and cleaning systems and has developed as prototypes all systems for motion along the sewer and all sensor systems, achieving a new quality of inspection under these difficult conditions. This article describes significant project results and important components of the inspection and cleaning systems such as the inspection systems, pipe axis measurement, system positioning and sensor systems for damage detection. Fundamental for the development of the inspection systems are a detailed inspection going far beyond the video inspection common today and the capability of taking comparative measurements throughout the sewer system's period of operation to describe the development of damage.

关键词： inspection system positioning sensor systems sewer

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Wheel control based on body configuration for step-climbing vehicle 5th

Wheel control based on body configuration for step-climbing ...

引用

5th International Conference on Field and Service robotics

作者： Chugo, Daisuke Kawabata, Kuniaki Kaetsu, Hayato Asama, Hajime Mishima, Taketoshi Univ Tokyo Bunkyo Ku 2-11-16Yayoi Tokyo Japan RIKEN Inst Phys & Chem Res Saitama Japan Univ Tokyo Tokyo 1138654 Japan Saitama Univ Saitama Japan

ISBN: (纸本)3540334521

In our current research, we are developing a holonomic mobile vehicle which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over the step in forward or backward direction using the passive suspension mechanism. This paper proposes a new wheel control method of the vehicle according to its body configuration for passing over the step. The developed vehicle utilizes the passive suspension mechanism connected by two free joints that provide to change the body configuration on the terrain condition. Therefore, it is required to coordinate the suitable rotation velocity of each wheel according to its body configuration. In our previous work, the vehicle motion during step-climbing was discussed and moving velocity of each wheel was derived. In this paper, we adapt these results to wheel control and derived rotation velocity reference of each wheel. The performance of our proposed method is verified by the computer simulations and experiments using our prototype vehicle.

关键词： omni-directional mobile system passive linkage mechanism step-climbing wheel control

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Scan-SLAM: Combining EKF-SLAM and scan correlation 5th

Scan-SLAM: Combining EKF-SLAM and scan correlation

引用

5th International Conference on Field and Service robotics

作者： Nieto, Juan Bailey, Tim Nebot, Eduardo Univ Sydney ARC Ctr Excellence Autonomous Syst Sydney NSW 2006 Australia

ISBN: (纸本)3540334521

This paper presents a new generalisation of simultaneous localisation and mapping (SLAM). SLAM implementations based on extended Kalman filter (EKF) data fusion have traditionally relied on simple geometric models for defining landmarks. This limits EKF-SLAM to environments suited to such models and tends to discard much potentially useful data. The approach presented in this paper is a marriage of EKF-SLAM with scan correlation. Instead of geometric models, landmarks are defined by templates composed of raw sensed data, and scan correlation is shown to produce landmark observations compatible with the standard EKF-SLAM framework. The resulting Scan-SLAM combines the general applicability of scan correlation with the established advantages of an EKF implementation: recursive data fusion that produces a convergent map of landmarks and maintains an estimate of uncertainties and correlations. Experimental results are presented which validate the algorithm.

关键词： simultaneous localisation and mapping (SLAM) EKF-SLAM scan correlation Sum of Gaussians (SoG) observation model

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Design of an ultra-lightweight autonomous solar airplane for continuous flight 5th

Design of an ultra-lightweight autonomous solar airplane for...

引用

5th International Conference on Field and Service robotics

作者： Noth, Andre Engel, Walter Siegwart, Roland Ecole Polytech Fed Lausanne Autonomous Syst Lab Lausanne Switzerland

ISBN: (纸本)3540334521

The Autonomous Systems Lab of EPFL3 is developing, within the framework of an ESA program, an ultra-lightweight solar autonomous model airplane called Sky-Sailor with embedded navigation and control systems. The main goal of this project is to jointly undertake research on navigation, control of the plane and also work on the design of the structure, the energy generation system. The airplane will be capable of continuous flight over days and nights, which makes it suitable for a wide range of applications.

关键词： autonomous UAV solar powered airplane sustainable flight

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Ball-shaped robots: An historical overview and recent developments at TKK 5th

Ball-shaped robots: An historical overview and recent develo...

引用

5th International Conference on Field and Service robotics

作者： Suomela, Jussi Ylikorpi, Tomi Aalto Univ POB 5500 Helsinki 02015 Finland

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Efficient braking model for off-road mobile robots 5th

Efficient braking model for off-road mobile robots

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5th International Conference on Field and Service robotics

作者： Pivtoraiko, Mihail Kelly, Alonzo Rander, Peter Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)3540334521

In the near future, off-road mobile robots will feature high levels of autonomy which will render them useful for a variety of tasks on Earth and other planets. Many terrestrial applications have a special demand for robots to possess similar qualities to human-driven machines: high speed and maneuverability. Meeting these requirements in the design of autonomous robots is a very hard problem, partially due to the difficulty of characterizing the natural terrain that the vehicle will encounter and estimating the effect of these interactions on the vehicle. Here we present a dynamic traction model that describes vehicle braking on a variety of terrestrial soil types and in a wide range of natural landscapes and vehicle velocities. This model was developed empirically, it is simple yet accurate and can be readily used to improve model-predictive planning and control. The model encapsulates the specifics of wheel-terrain interaction, offers a good compromise between accuracy and real-time computational efficiency, and allows straight-forward consideration of vehicle dynamics.

关键词： modeling dynamics off-road robotics

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Crawling and jumping by a deformable robot

Crawling and jumping by a deformable robot

引用

9th International Symposium on Experimental robotics (ISER)

作者： Sugiyama, Yuuta Hirai, Shinichi Ritsumeikan Univ Dept Robot Shiga 5258577 Japan

ISBN: (纸本)3540288163

We describe crawling and jumping by a soft robot. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This paper presents an alternative method, one that employs deformation. First, we describe the principle of crawling and jumping as performed through deformation of a robot body. Second, in a physical simulation, we investigate the feasibility of the approach. Next, we show experimentally that a prototype of a circular soft robot can crawl and jump. Finally, we describe crawling and jumping performed by a spherical deformable robot.

关键词： deformation locomotion crawl jump

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