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Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots

Thomas M. Howard, Alonzo Kelly
2007 The international journal of robotics research  
We present an approach to the mobile robot trajectory generation problem which achieves a high degree of generality and efficiency.  ...  Such efficiency derives from the use of kinetic models of motion and a nonlinear programming approach involving search in the space of arbitrary parameterized controls.  ...  Acknowledgement This research was conducted at the Robotics Institute of Carnegie Mellon University under contract to NASA/JPL as part of the Mars Technology Program. 9  ... 
doi:10.1177/0278364906075328 fatcat:fx67v7xjsfezbjy2lkvv54ek3e

Development of four-wheel-type mobile robot for rough terrain and verification of its fundamental capability of moving on rough terrain

S. Nakajima
2009 2008 IEEE International Conference on Robotics and Biomimetics  
A robot with a simple mechanism and high mobility for all terrains is discussed in this paper. A four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint.  ...  In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, robots that can move on rough terrains are desired.  ...  ACKNOWLEDGMENT This work was partially supported by KAKENHI (19700194, Grant-in-Aid for Young Scientists (B)), the Suzuki Foundation, and the Yazaki Memorial Foundation for Science and Technology.  ... 
doi:10.1109/robio.2009.4913302 dblp:conf/robio/Nakajima08 fatcat:z42zqllg3zawnh4yykeclhnjdy

Design of an omnidirectional mobile robot for rough terrain

Martin Udengaard, Karl Iagnemma
2008 2008 IEEE International Conference on Robotics and Automation  
This paper presents design constraints and guidelines for designing an omnidirectional mobile robot propelled by active split offset casters to be driven in rough terrain.  ...  To date, nearly all designs and analyses of omnidirectional robots have considered the case of motion on flat, smooth terrain.  ...  Omnidirectional mobile robots could potentially navigate faster and more robustly through cluttered urban environments and over rough terrain, due to their ability to track near-arbitrary motion profiles  ... 
doi:10.1109/robot.2008.4543440 dblp:conf/icra/UdengaardI08 fatcat:h2e2q4qdm5h3nlaqv2ffkq6uti

High-speed hazard avoidance for mobile robots in rough terrain

Matthew J. Spenko, Karl D. Iagnemma, Steven Dubowsky, Grant R. Gerhart, Chuck M. Shoemaker, Douglas W. Gage
2004 Unmanned Ground Vehicle Technology VI  
Mobile robots have important applications in high speed, rough-terrain scenarios. In these scenarios, unexpected and hazardous situations can occur that require rapid hazard avoidance maneuvers.  ...  At high speeds, there is limited time to perform re-planning based on detailed vehicle and terrain models.  ...  , in rough terrain it is difficult to accurately model complex phenomena such as sideslip, ballistic motion, and wheel/terrain interaction.  ... 
doi:10.1117/12.553242 fatcat:dj4njanmergflhpicibbplltpy

Probabilistic modeling and analysis of high-speed rough-terrain mobile robots

D. Golda, K. Iagnemma, S. Dubowsky
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Mobile robots have important applications in high speed, rough-terrain scenarios. It would be desirable to construct accurate models of these systems.  ...  However, due to the system complexity, accurate modeling is difficult. In this paper a highspeed rough-terrain robot model is presented.  ...  Such information could be used as a basis for design studies, and control and planning algorithms that are robust to uncertainty.  ... 
doi:10.1109/robot.2004.1307266 dblp:conf/icra/GoldaID04 fatcat:ogqnpdusgrazbbqmjkn7pdgia4

NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

Jörg Stückler, Max Schwarz, Mark Schadler, Angeliki Topalidou-Kyniazopoulou, Sven Behnke
2015 Journal of Field Robotics  
Fully autonomous exploration and mobile manipulation in rough terrain are still beyond the state of the art-robotics challenges and competitions are held to facilitate and benchmark research in this direction  ...  Our robot explores, maps, and navigates in previously unknown, uneven terrain using a 3D laser scanner and an omnidirectional RGB-D camera.  ...  Our wheeled robot has been designed for driving in rough terrain.  ... 
doi:10.1002/rob.21592 fatcat:zk3ysojlgrf3xgk7svjrgsdoxy

TURN AROUND BEHAVIOR GENERATION AND EXECUTION FOR UNMANNED GROUND VEHICLES OPERATING IN ROUGH TERRAIN [chapter]

M. M. DABBEERU, P. SVEC, J. D. LANGSFELD, S. K. GUPTA
2012 Adaptive Mobile Robotics  
extent in the state space, and atomic maneuver selection and adaptation to the terrain shape.  ...  It combines offline synthesis of an atomic maneuver model for a given vehicle and terrain model, fast online computation of motion goals determining the execution sequence of atomic maneuvers and their  ...  Opinions expressed in this paper are those of the authors and do not necessarily reflect opinions of the sponsors.  ... 
doi:10.1142/9789814415958_0017 fatcat:vbsbmrdn3fcjli4s37jqt3jkeq

3-Survivor: A Rough Terrain Negotiable Teleoperated Mobile Rescue Robot with Passive Control Mechanism [article]

R. A. Bindu, A. A. Neloy, S. Alam, S. Siddique
2020 arXiv   pre-print
This paper presents the design and integration of 3 Survivor, a rough terrain negotiable teleoperated mobile rescue and service robot. 3 Survivor is an improved version of two previously studied surveillance  ...  Therefore, the control portal provides a brief scenario of the environment to run, control and steer the robot for more precise operation.  ...  For using the robots in hazardous areas, the robot must have high mobility ability to move in rough terrain, clearing the path and also transmitting live video of the affected area.  ... 
arXiv:2003.05224v1 fatcat:zzi37nemdzgenfnopg7u6wsfqu

Hazard avoidance for high-speed mobile robots in rough terrain

Matthew Spenko, Yoji Kuroda, Steven Dubowsky, Karl Iagnemma
2006 Journal of Field Robotics  
At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models.  ...  Simulation and experimental results on a small gasolinepowered unmanned ground vehicle demonstrate the method's effectiveness on sloped and rough terrain.  ...  .: Hazard Avoidance for High-Speed Mobile Robots in Rough Terrain • 329 Trajectory Space…: The hazard trajectory space, ⍀, consists of curvatures and veloci-ties that, if maintained from the current  ... 
doi:10.1002/rob.20118 fatcat:a25vyfoqw5a5pg2rb6kkk3i7uy

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-Like Robot

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, Sven Behnke
2016 Frontiers in Robotics and AI  
Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain.  ...  Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner.  ...  ., 2015) , a six-wheeled robot equipped with a 7 DOF arm designed for mobile manipulation in rough terrain, encountered in planetary exploration scenarios.  ... 
doi:10.3389/frobt.2016.00057 fatcat:w7hh7ganffantjxp3f5ej2dfmi

Concept of a novel four-wheel-type mobile robot for rough terrain, RT-Mover

Shuro Nakajima
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A novel type of four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint.  ...  A robot with a simple mechanism and high mobility for all-terrain is discussed in this paper.  ...  for rough terrain mobile robots.  ... 
doi:10.1109/iros.2009.5354823 dblp:conf/iros/Nakajima09 fatcat:pt7yoyzo4zhxbow6a7avprn45e

Development of Rough Terrain Mobile Robot Using Connected Crawler -Derivation of Sub-optimal Number of Crawler Stages [chapter]

Sho Yokota, Yasuhiro Ohyama, Hiroshi Hashimoto, Jin-Hua She, Hisato Kobayashi, Pierre Blazevic
2008 Frontiers in Robotics, Automation and Control  
In such field, the robots require high mobile ability on rough terrain. When we design such kinds of robot, it become very important to choose the mechanism as a mobile platform.  ...  Therefore a lot of rough terrain mobile robots adopt a crawler mechanism.  ...  Development of Rough Terrain Mobile Robot Using Connected Crawler -Derivation of Sub-optimal Number of Crawler Stages, Frontiers in Robotics, Automation and Control, Alexander Zemliak (Ed.), ISBN: 978-  ... 
doi:10.5772/6316 fatcat:bzzx5dc2wnfypl2xeylm36exfy

Performance-based rough terrain navigation for nonholonomic mobile robots

Yi Guo, L.E. Parker, D. Jung, Zhaoyang Dong
IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)  
This paper addresses path planning and control of mobile robots in rough terrain environments.  ...  Previous research separates path planning and control into two different problems and addresses them in different contexts.  ...  Planning is the determination of the geometric path points for the mobile robots to track, and control is the determination of the physical input to the robot motion components.  ... 
doi:10.1109/iecon.2003.1280693 fatcat:xx3tvcqq5fhqdd3e6ah3ckezja

Experimental Study of High-speed Rough-terrain Mobile Robot Models for Reactive Behaviors [chapter]

Karl Iagnemma, Dariusz Golda, Matthew Spenko, Steven Dubowsky
Springer Tracts in Advanced Robotics  
High-speed mobile robots have many important applications in rough terrain. At high speeds, it is difficult to guarantee safe robot motion using traditional control and planning techniques.  ...  Experimental results show that behaviors based on detailed models can accurately predict the dynamics of mobile robots in rough terrain.  ...  Acknowledgments The authors would like to acknowledge the support and assistance of the Defense Advanced Research Projects Agency (DARPA) and the U.S.  ... 
doi:10.1007/3-540-36268-1_60 dblp:conf/iser/IagnemmaGSD02 fatcat:wc2loeprknhj5n4b6efgiv3sn4

Static Stability of Double-Spiral Mobile Robot over Rough Terrain

Naohiko Hanajima, Taiki Kaneko, Hidekazu Kajiwara, Yoshinori Fujihira
2018 Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016   unpublished
We found that the robot has sensitive directions in terms of stability. Planning the route and motion of the robot in the rough terrain could help maintain its stability.  ...  To overcome rough terrain locomotion, we need to ensure the stability of the walking motion on the sloping ground.  ...  The authors also express their sincere gratitude to Center of Environmental Science and Disaster Mitigation for Advanced Research (CEDAR) at Muroran Institute of Technology for meaningful assistance.  ... 
doi:10.3384/ecp171421034 fatcat:hmdvzfadxncqrj54c4ihto5feq
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