Terrain trafficability characterization with a mobile robot pdf

Trafficability assessment of deformable terrain through. Economical and cautious approaches to local path planning for a mobile robot pdf. Future robot positions are estimated by employing gaussian process regression gpr in combination with an unscented kalman filter ukf. Terrain characterization for trafficability studies is used in a well known apparatus for terrain strength measurement called a bevameter for bekker value theory of ground vehicles. Terrain classification for mobile robots on the basis of. The paper also presents experimental results for each of the two implemented methods. The proposed method first transforms a local terrain map surrounding the robot s momentary position into a gridtype traversability map by extracting the slope and roughness of a terrain patch through leastsquares planefitting.

External perception based on vision plays a critical role in developing improved and robust localization algorithms, as well as gaining important information about the vehicle and the terrain it is traversing. Pdf terrain trafficability characterization with a mobile. It implements legged wheels at the front allowing it to traverse. Terrain parameter estimation and traversability assessment for mobile robots by shinwoo kang submitted to the department of mechanical engineering on may 12, 2003, in partial fulfillment of the requirements for the degree of master of science in mechanical engineering abstract the estimation of terrain characteristics is an important missions. The state oftheart terrain characterisation methods for the planetary rovers. The two proposed methods can be implemented on skidsteer mobile robots and possibly also on tracked mobile robots. Abstractthis paper presents a new obstacle negotiation method for mobile robot navigation on rough terrain. Several approaches have been proposed to address the problem of motion planning of a mobile robot. A method for mobile robot navigation on rough terrain. Planar view of an internally reconfigurable mobile robot for an internally reconfigurable robot the terrain profile does not influence the reconfiguration process. This paper presents two novel methods for rough terrain mobile robots. Terrain trafficability characterization with a mobile. For wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Terrain trafficability characterization with a mobile robot, ojeda, l.

We focused on the scenario of mobile robot operation in a disaster environment with limited sensor data. The proposed terrain classification and characterization system comprises a skidsteer mobile robot, as well as some common and some. Terrain characterization and classification with a mobile. Introduction n many fields, there is a strong demand for mobile robots that can move on rough terrain, for example, to aid people who have difficulty in walking. The success of future robotic surface exploration missions will depend on two key. This paper presents our work on automated realtime characterization of terrain with regard to trafficability for small mobile robots. Mobile robot for uneven terrain university of pennsylvania. Index terms mobile robot, rough terrain, wheeltype robot, hybrid mechanism, legwheel robot. The legs are based on a paralleldrive 2r linkage that allows the motors to be located on the robot frame. All mobile robots use locomotion that generates traction, negotiates terrain and carries payload. Heuristic reduction of gyro drift in imubased personnel tracking systems. This project introduces the methods for terrain characterization with mobile robot. This paper introduces novel methods for terrain classi. Dem analysis can take data from one size and simulate bevameter performance for a different size.

Facing such kinds of complex environments and terrains, the mobility and terrain trafficability performance of the lunar rover will be threatened to a certain. These issues have conventionally been the foremost factors limiting the performance and speeds of mobile robots. Terrain trafficability analysis and soil mechanical. Analytical configuration of wheeled robotic locomotion.

This cited by count includes citations to the following articles in scholar. Automatic locomotion mode control of wheellegged robots april 23, 2007 june 19, 2007 september 7, 2007. Lauro ojeda, johann borenstein and gary witus, terrain trafficability characterization with a mobile robot, unmanned ground vehicle. The proposed terrain classification and characterization system comprises a skid. Most research on offroad mobile robot sensing focuses on obstacle negotiation, path planning, and position estimation. Successfully completed the project terrain characterization for trafficability using mobile robot.

The sinkage trafficability model is developed based on experimental data using this test bed and then validated onboard a fully mobile robot through experimentation on a range of dry frictional soils that covers a wide spectrum of macroscopic physical characteristics. Army tardec, warren, mi 483975000 gary witus turing associates, ann arbor, mi 48103 abstract this paper presents a method to forecast terrain trafficability from visual appearance. Adaptive traversability of unknown complex terrain with. Bevameter area size need to be the size of the wheel or track. Our scope is limited to mobile service robots that are used for surveillance or delivery in semistructured urban environments. The focus of this thesis is on the configuration of wheeled robotic locomotion, the most commonly used means for robotic mobility. The robot configuration can be defined without terrain information as q. Such properties are collectively called trafficability. Mobile robot for uneven terrain abstract this paper outlines the details of the development of a mobile robot than can navigate uneven terrain. Search the leading research in optics and photonics applied research from spie journals, conference proceedings and presentations, and ebooks. Terrain feature extraction and classification for mobile.

The ability to detect traversable terrains is essential for autonomous mobile robots to guarantee safe navigation. Towards autonomous mobile robots for the exploration of steep. Pdf terrain characterization and classification with a. Read, download and publish shear magazines, ebooks for free. Pdf computer vision methods for improved mobile robot.

However, nongeometric hazards that cannot be detected remotely pose a serious threat to the mobility of such robots. Terrain trafficability analysis and soil mechanical property. Terrain trafficability characterization with a mobile robot, in. A dynamicmodelbased wheel slip detector for mobile robots on outdoor terrain. Mobile robot with passively articulated driving tracks for. Design of a configurable all terrain mobile robot platform. Defense and security, international society for optics and photonics. They provide an efficient alternative, with lower risk and cost, to explore or to transport materials through hazardous or challenging terrain.

These criteria are used to determine if a mode change is. Trafficability, which is a robots ability to traverse soft soils or hard ground without loss. Terrain traversability analysis for off road robots using. Estimation, motion planning, and control with application to planetary rovers springer tracts in advanced robotics iagnemma, karl on. Extraction of meaningful information from sensor data allows. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain. Terrain trafficability characterization with a mobile robot article pdf available in proceedings of spie the international society for optical engineering 5804 may 2005 with 557 reads. Mobile robot kinematic reconfigurability for rough terrain karl iagnemma a, adam rzepniewski a, steven dubowsky a, paolo pirjanian b, terrence huntsberger b, paul schenker b adepartment of mechanical engineering, massachusetts institute of technology. Pdf most research on offroad mobile robot sensing focuses on obstacle negotiation, path planning, and position estimation.

The proposed terrain classification and characterization system comprises a skidsteer mobile robot, as well as. Improved traversal for planetary rovers through forward. Terrain trafficability analysis and soil mechanical property identification for planetary rovers. Towards autonomous mobile robots for the exploration of steep terrain 5 two people who hiked down to attached a sling. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. Today, industrial robots are used in dangerous environments in all sectors, including the sustainable energy sector. Terrain trafficability characterization with a mobile robot terrain trafficability characterization with a mobile robot ojeda, lauro. This paper proposes that the estimation of a collaborative robot systems performance can be. It is thus required to analyse, in realtime, the 3d characteristics of the terrain and pair this data to the robot capabilities. A related but different type of terrain analysis is terrain characterization, that is, determining character istics of the terrain that affect the driving performance and safety of small mobile robots traversing the terrain. It is a light weight, highly mobile robotic platform able to traverse terrain that would be hazardous for the primary rover. Terrain traversability analysis using multisensor data correlation by a mobile robot mohammed abdessamad bekhti, yuichi kobayashi and kazuki matsumura abstract a key feature for an autonomous mobile robot navigating in offroad unknown areas is environment sensing. How can concepts of locomotion systems be elaborated and put into connection with a specific environment of interest.

How can a mobile robot s environment or its terrain of action be adequately represented with regard to trafficability considerations. Design methods for costeffective teams of mobile robots. Terrain characterization, on the other hand, aims at determining key parameters of the terrain that affect its ability to support vehicular traffic. Fuzzy based traversability analysis for a mobile robot on. Proceedings of the 2002 ieee international conference on robotics and automation, washington, dc, 052002.

Adhering to terrain characteristics for position estimation. The mobile robot consists of four driving tracks, two rocker links, and four pitchroll twodegreesoffreedom 2dof passive joints. Terrain trafficability characterization with a mobile robot,ojeda, l. Concept of a novel fourwheeltype mobile robot for rough. The design is inspired by the dfki robots asguard 2 and cesar 3, which won the 2008 esa lunar challenge. Continuous mobility of mobile robots with a special. Terrain characterization an d classification with a mobile robot. In this paper, we present a method for terrain classification for wheeled mobile robots. Karlsen, member, ieee and gary witus, member, ieee abstract this paper presents a method to forecast terrain trafficability from visual appearance. An additional motivation is that a body of research exists on classical vehicle terrain systems but no one has attempted to apply it to mobile robots. Besides its ability to ride effectively on various terrains, robot body is designed in such a way that adding new hardware to. However, there are few robots that are suitable for use in rough terrain.

Numerical calculation and computer simulations are performed to verify the performance of the designed controller on soft terrain. Offroad ground mobile robots are widely used in diverse applications, both in terrestrial and planetary environments. Mobile robot kinematic reconfigurability for roughterrain. Trafficability assessment of deformable terrain through hybrid. Citeseerx document details isaac councill, lee giles, pradeep teregowda. This paper attempts to capture the full spectrum of various terrain characterisation technologies from orbital terrain sensing to local in situ soil property investigations for mobility prediction of mobile rover platforms. The robot incorporates a combination of wheels and legs.

Sensors and processors collect and transmit information and data from users as a result of the application of robot control systems and sensory feedback. Feb 01, 2006 terrain characterization, on the other hand, aims at determining key parameters of the terrain that affect its ability to support vehicular traffic. On the moon, the soft weathered layers, as well as different sizes of rocks and craters, are distributed disorderly and unsystematically. This study presents a new mobile robot with passively articulated driving tracks for high terrainability ta and maneuverability ma on unstructured, rough terrain. Terrain characterization and classification with a mobile robot. This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. Pdf terrain trafficability characterization with a mobile robot. The ones marked may be different from the article in the profile. Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain volume 33 issue 9 chenghui nie, marin assaliyski, matthew spenko. Mobile, robot, offroad, terrain, characterization, trafficability.

Therefore, compared to indoor environments, the kinematics of mobile robots is much more complex. In this paper we present a comprehensive approach to learn the function of outdoor kinematics for mobile robots. Terrain parameter estimation and traversability assessment. During training, the system identifies a set of image chips or exemplars that. May 27, 2005 terrain trafficability characterization with a mobile robot terrain trafficability characterization with a mobile robot ojeda, lauro. Mechanical design the design of autonomous mobile robots capable of intelligent motion and action without requiring either a guide to follow or a teleoperator control involves the integration of many different bodies of knowledge.

Study of terrain characterisation and trafficability analysis is important to achieve rapid traversal between different. Pdf terrain trafficability characterization with a. The best way to id the tk 530 is by the gearboxes, they have bolt on top covers,and input shaft option, square shaft, shear pin shaft or slip clutch shaft. Very little attention has been paid to date to the issue of terrain trafficability. Geetu verma columbus, ohio professional profile linkedin. Research on modeling and coordinated driving control for.

Results indicate that the lunar rover has a better coordination driving control ability when using the designed controller, which may provide a reference for motion control of other kinds of wheeled mobile robot. Experimental results with the kvh c100 fluxgate compass in mobile robots. Terrain trafficability characterization with a mobile robot. Fuzzy logic expert rulebased position estimation for mobile robots on rugged terrain. Terrain understanding for robot navigation robert e. They proposed a fully selfcontained terrain characterization method for skidsteer mobile robots. Fuzzy based traversability analysis for a mobile robot on rough terrain yusuke tanaka 1, yonghoon ji, atsushi yamashita, and hajime asama abstractwe present a novel rough terrain traversability analysis method for mobile robot navigation. Terrain traversability analysis using multisensor data.

If the environment is a known static terrain and it generates a path in advance it said to be offline algorithm. The models are formulated into an optimization problem. For performance evaluation, the proposed mechanism was compared with. Pdf terrain trafficability analysis and soil mechanical property.