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Author: Tianxiang Lu Publisher: ISBN: Category : Languages : en Pages :
Book Description
Unmanned ground vehicles (UGVs) have been widely used in many areas such as agriculture, mining, construction and military applications. This results from the fact that UGVs can not only be easily built and controlled, but also be featured with high mobility and handling hazardous situations in complex environments. Among the competences of UGVs, autonomous navigation is one of the most challenging problems. This is because that the success in achieving autonomous navigation depends on four factors: Perception, localization, cognition, and proper motion controller. In this thesis, we introduce the realization of autonomous navigation for a two-wheeled differential ground robot under the robot operating system (ROS) environment from both the simulation and experimental perspectives. In Chapter 2, the simulation work is discussed. Firstly, the robot model is described in the unified robot description format (URDF)-based form and the working environment for the robot is simulated. Then we use the \textit{gmapping} package which is one of the packages integrating simultaneous localization and mapping (SLAM) algorithm to build the map of the working environment. In addition, ROS packages including \textit{tf}, \textit{move\_base}, \textit{amcl}, etc., are used to realize the autonomous navigation. Finally, simulation results show the feasibility and effectiveness of the autonomous navigation system for the two-wheeled UGV with the ability to avoid collisions with obstacles. In Chapter 3, we introduce the experimental studies of implementing autonomous navigation for a two-wheeled UGV. The necessary hardware peripherals on the UGV to achieve autonomous navigation are given. The process of implementation in the experiment is similar to that in simulation, however, calibration of several devices is necessary to adapt the scenario in a practical environment. Additionally, a proportional-integral-derivative (PID) controller for the robot base is used to handle the external noise during the experiment. The experimental results demonstrate the success in the implementation of autonomous navigation for the UGV in practice.
Author: Tianxiang Lu Publisher: ISBN: Category : Languages : en Pages :
Book Description
Unmanned ground vehicles (UGVs) have been widely used in many areas such as agriculture, mining, construction and military applications. This results from the fact that UGVs can not only be easily built and controlled, but also be featured with high mobility and handling hazardous situations in complex environments. Among the competences of UGVs, autonomous navigation is one of the most challenging problems. This is because that the success in achieving autonomous navigation depends on four factors: Perception, localization, cognition, and proper motion controller. In this thesis, we introduce the realization of autonomous navigation for a two-wheeled differential ground robot under the robot operating system (ROS) environment from both the simulation and experimental perspectives. In Chapter 2, the simulation work is discussed. Firstly, the robot model is described in the unified robot description format (URDF)-based form and the working environment for the robot is simulated. Then we use the \textit{gmapping} package which is one of the packages integrating simultaneous localization and mapping (SLAM) algorithm to build the map of the working environment. In addition, ROS packages including \textit{tf}, \textit{move\_base}, \textit{amcl}, etc., are used to realize the autonomous navigation. Finally, simulation results show the feasibility and effectiveness of the autonomous navigation system for the two-wheeled UGV with the ability to avoid collisions with obstacles. In Chapter 3, we introduce the experimental studies of implementing autonomous navigation for a two-wheeled UGV. The necessary hardware peripherals on the UGV to achieve autonomous navigation are given. The process of implementation in the experiment is similar to that in simulation, however, calibration of several devices is necessary to adapt the scenario in a practical environment. Additionally, a proportional-integral-derivative (PID) controller for the robot base is used to handle the external noise during the experiment. The experimental results demonstrate the success in the implementation of autonomous navigation for the UGV in practice.
Author: Martial H. Hebert Publisher: Springer Science & Business Media ISBN: 1461563259 Category : Computers Languages : en Pages : 315
Book Description
Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.
Author: National Research Council Publisher: National Academies Press ISBN: 0309181232 Category : Technology & Engineering Languages : en Pages : 256
Book Description
Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.
Author: National Research Council Publisher: National Academies Press ISBN: 0309086205 Category : Technology & Engineering Languages : en Pages : 180
Book Description
Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.
Author: Milad Roigari Publisher: ISBN: Category : Autonomous vehicles Languages : en Pages : 103
Book Description
"This thesis presents an approach for solving the global navigation problem of wheeled mobile robots. The presented solution for outdoor navigation uses Extended Kalman Filter (EKF) to estimate the robot location based on the measurements from Global Positioning System (GPS), inertial measurement unit (IMU) and wheel encoders. For indoor navigation (where GPS signals are blocked) another probabilistic approach, based on Monte Carlo Localization (MCL), is used for localization. This algorithm utilizes the map of the environment to estimate the posterior of the robot using the depth measurements from a Kinect sensor. The output from the Kinect sensor is processed to imitate the output of a 2D laser scanner by projecting the points from a thin horizontal strip of pixels in the image plane to the corresponding real world 3D coordinates using the pin-hole camera model. Two different controllers based on Dynamic Feedback Linearization (DFL) and Input-Output State Feedback Linearization (I-O SFL) have been analyzed, simulated and compared. Based on the thesis objective and the simulated results, the I-O SFL method was chosen for solving the trajectory tracking problem. A set of test experiments was conducted to evaluate the performance of the proposed system in outdoor, indoor and a combination of both environments. The results show that the robot can successfully navigate through the way-points with a great accuracy in indoor environments, while the accuracy in outdoor environments is within the 3m position accuracy of the GPS."--Abstract.
Author: Ingemar J. Cox Publisher: Springer Science & Business Media ISBN: 1461389976 Category : Computers Languages : en Pages : 478
Book Description
Autonomous robot vehicles are vehicles capable of intelligent motion and action without requiring either a guide or teleoperator control. The recent surge of interest in this subject will grow even grow further as their potential applications increase. Autonomous vehicles are currently being studied for use as reconnaissance/exploratory vehicles for planetary exploration, undersea, land and air environments, remote repair and maintenance, material handling systems for offices and factories, and even intelligent wheelchairs for the disabled. This reference is the first to deal directly with the unique and fundamental problems and recent progress associated with autonomous vehicles. The editors have assembled and combined significant material from a multitude of sources, and, in effect, now conviniently provide a coherent organization to a previously scattered and ill-defined field.
Author: Mohammad Osman Tokhi Publisher: World Scientific ISBN: 9814415960 Category : Technology & Engineering Languages : en Pages : 904
Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Author: Lounis Adouane Publisher: CRC Press ISBN: 1498715591 Category : Computers Languages : en Pages : 256
Book Description
Improve the Safety, Flexibility, and Reliability of Autonomous Navigation in Complex EnvironmentsAutonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures explores the use of multi-controller architectures in fully autonomous robot navigation-even in highly dynamic and cluttered environments. Accessible to researchers
Author: Andrey V. Savkin Publisher: Butterworth-Heinemann ISBN: 0128037571 Category : Technology & Engineering Languages : en Pages : 360
Book Description
Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
Author: Abul K. M. Azad Publisher: World Scientific ISBN: 9814415944 Category : Technology & Engineering Languages : en Pages : 904
Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Author: Tianxiang Lu
Author: Tianxiang Lu
Author: Martial H. Hebert
Author: National Research Council
Author: National Research Council
Author: Milad Roigari
Author: Ingemar J. Cox
Author: Mohammad Osman Tokhi
Author: Lounis Adouane
Author: Andrey V. Savkin
Author: Abul K. M. Azad