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arXiv 2019年

作者： Ma, Yingchong Shiller, Zvi Paslin Laboratory for Robotics and Autonomous Vehicles Department of Mechanical Engineering and Mechatronics Ariel University Ariel40700 Israel

This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground. The terrain is represented by a 3D points cloud, interpolated by a B-patch to provide a continuous terrain representation. The pose estimation problem is formulated as a rigid body contact problem for a given location of the vehicle's center of mass over the terrain and a given yaw angle. The contact points between the wheels and ground are determined by releasing the vehicle from a given point above the terrain, until the contact forces between the wheels and ground, and the gravitational force, reach equilibrium. The contact forces are calculated using singular value decomposition (SVD) of the deduced contact matrix. The proposed method is computationally efficient, allowing real time computation during motion, as demonstrated in several examples. Accurate pose estimations can be used for motion planning, stability analyses and traversability analyses over uneven terrain. Copyright © 2019, The Authors. All rights reserved.

关键词： Motion planning

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High Speed On-Line Motion Planning in Cluttered Environments

High Speed On-Line Motion Planning in Cluttered Environments

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Zvi Shiller Sanjeev Sharma Department of Mechanical Engineering and Mechatronics Ariel University Center of Samaria Israel visiting scholar at the Paslin Laboratory for Robotics Autonomous Vehicles at the Ariel University Center Israel

ISBN: (纸本)9781467317375

This paper presents an efficient algorithm for online obstacle avoidance that accounts for robot dynamics and actuator constraints. The robot trajectory (path and speed) is generated on-line by avoiding obstacles optimally one at a time. This reduces the original problem from one with m obstacles to m simpler problems with one obstacle each, thus resulting in a planner that is linear, instead of exponential, in the number of obstacles. While this approach is quite general and applicable to any cost function and to any robot dynamics, it is treated here for minimum time motions, a point mass robot, and planar circular obstacles.

关键词： Cluttered Environments actuator constraints planar circular

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