OFFROAD NAVIGATION USING ADAPTABLE MOTION PATTERNS

Frank Hoeller, Timo Röhling, Dirk Schulz

2010

Abstract

This paper presents a navigation system which is able to steer an electronically controlled ground vehicle to given destinations considering all obstacles in its vicinity. The approach is designed for vehicles without a velocity controlled drivetrain and without an odometry system, making it especially useful for typical remotecontrolled vehicles without upgrading the motor controllers. The vehicle is controlled by sets of commands, each set representing a specific maneuver. These sets are then combined in a tree-building procedure to form trajectories towards the given destination. While the sets of commands are executed the vehicle’s movement is measured to refine the prediction used for path generation. This enables the approach to adapt to surface alterations. The technique requires a precise position estimation, which is provided in our implementation by a 3D laser mapping based relative localization system. We tested our approach using a 400kg EOD robot in an outdoor environment. The experiments confirmed that our navigation system is able to control the robot to its destination while avoiding obstacles and adapting to different ground surfaces.

References

  1. Brock, O. and Khatib., O. (1999). High-speed navigation using the global dynamic window approach. In Proc. of the IEEE International Conference on Robotics & Automation (ICRA).
  2. Bruch, M., Gilbreath, G., and Muelhauser, J. (2002). Accurate waypoint navigation using non-differential gps. In Proc. of AUVSI Unmanned Systems.
  3. Brunner, M., Schulz, D., and Cremers, A. B. (2010). Position estimation of mobile robots considering characteristic terrain model. In submitted to the International Conference on Informatics in Control, Automation and Robotics (ICINCO).
  4. Fox, D., Burgard, W., and Thrun, S. (1997). The dynamic window approach to collision avoidance. IEEE Robotics & Automation Magazine, 4(1):23-33.
  5. Ko, J., Klein, D., Fox, D., and Haehnel, D. (2002). Visionbased Monte-Carlo self-localization for a mobile service robot acting as shopping assistant in a home store. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
  6. Neumann, G., Maass, W., and Peters, J. (2009). Learning complex motions by sequencing simpler motion templates. In Proc. of the International Conference on Machine Learning (ICML).
  7. Pivtoraiko, M., Knepper, R. A., and Kelly, A. (2009). Differentially constrained mobile robot motion planning in state lattices. J. Field Robot., 26(3):308-333.
  8. Seyr, M., Jakubek, S., Novak, G., and Dellaert, F. (2005). Neural network predictive trajectory tracking of an autonomous two-wheeled mobile robot. In International Federation of Automatic Control (IFAC) World Congress.
  9. Thrun, S., Montemerlo, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M., Hoffmann, G., Lau, K., Oakley, C., Palatucci, M., Pratt, V., Stang, P., and Strohband, S. (2006). Winning the darpa grand challenge. Journal of Field Robotics.
  10. V. Hundelshausen, F., Himmelsbach, M., Hecker, F., Mueller, A., and Wuensche, H.-J. (2008). Driving with tentacles: Integral structures for sensing and motion. J. Field Robot., 25(9):640-673.
  11. Vallespi, C. and Stentz, A. (2008). Prior data and kernel conditional random fields for obstacle detection. In Proceedings of the Robotics: Science and Systems (RSS).
  12. Wellington, C., Courville, A., and Stentz, A. (2005). Interacting markov random fields for simultaneous terrain modeling and obstacle detection. In Proceedings of the Robotics: Science and Systems (RSS).
Download


Paper Citation


in Harvard Style

Hoeller F., Röhling T. and Schulz D. (2010). OFFROAD NAVIGATION USING ADAPTABLE MOTION PATTERNS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 186-191. DOI: 10.5220/0002916301860191


in Bibtex Style

@conference{icinco10,
author={Frank Hoeller and Timo Röhling and Dirk Schulz},
title={OFFROAD NAVIGATION USING ADAPTABLE MOTION PATTERNS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={186-191},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002916301860191},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - OFFROAD NAVIGATION USING ADAPTABLE MOTION PATTERNS
SN - 978-989-8425-01-0
AU - Hoeller F.
AU - Röhling T.
AU - Schulz D.
PY - 2010
SP - 186
EP - 191
DO - 10.5220/0002916301860191