Terrain trafficability characterization with a mobile robot pdf

Design methods for costeffective teams of mobile robots. Several approaches have been proposed to address the problem of motion planning of a mobile robot. A dynamicmodelbased wheel slip detector for mobile robots on outdoor terrain. Today, industrial robots are used in dangerous environments in all sectors, including the sustainable energy sector. Pdf terrain trafficability characterization with a. The robot incorporates a combination of wheels and legs.

Towards autonomous mobile robots for the exploration of steep. Index terms mobile robot, rough terrain, wheeltype robot, hybrid mechanism, legwheel robot. Fuzzy based traversability analysis for a mobile robot on. Design of a configurable all terrain mobile robot platform. Offroad ground mobile robots are widely used in diverse applications, both in terrestrial and planetary environments.

Automatic locomotion mode control of wheellegged robots april 23, 2007 june 19, 2007 september 7, 2007. 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. Estimation, motion planning, and control with application to planetary rovers springer tracts in advanced robotics iagnemma, karl on. The focus of this thesis is on the configuration of wheeled robotic locomotion, the most commonly used means for robotic mobility. The mobile robot consists of four driving tracks, two rocker links, and four pitchroll twodegreesoffreedom 2dof passive joints. Terrain characterization an d classification with a mobile robot. Terrain traversability analysis using multisensor data. Pdf terrain trafficability characterization with a mobile.

The proposed terrain classification and characterization system comprises a skidsteer mobile robot, as well as some common and some. They provide an efficient alternative, with lower risk and cost, to explore or to transport materials through hazardous or challenging terrain. Bevameter area size need to be the size of the wheel or track. Successfully completed the project terrain characterization for trafficability using mobile robot. Concept of a novel fourwheeltype mobile robot for rough. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. Dem analysis can take data from one size and simulate bevameter performance for a different size. Terrain trafficability analysis and soil mechanical property.

Economical and cautious approaches to local path planning for a mobile robot pdf. This paper proposes that the estimation of a collaborative robot systems performance can be. If the environment is a known static terrain and it generates a path in advance it said to be offline algorithm. Continuous mobility of mobile robots with a special. Trafficability assessment of deformable terrain through hybrid. 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. The integration of collaborative robot systems and their. Trafficability, which is a robots ability to traverse soft soils or hard ground without loss. It is a light weight, highly mobile robotic platform able to traverse terrain that would be hazardous for the primary rover. Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain volume 33 issue 9 chenghui nie, marin assaliyski, matthew spenko. Fuzzy logic expert rulebased position estimation for mobile robots on rugged terrain. Proceedings of the 2002 ieee international conference on robotics and automation, washington, dc, 052002. 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. In this paper, we present a method for terrain classification for wheeled mobile robots.

Geetu verma columbus, ohio professional profile linkedin. Such properties are collectively called trafficability. 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. This paper presents our work on automated realtime characterization of terrain with regard to trafficability for small mobile robots. 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. This paper introduces novel methods for terrain classi. Lunar rover is a special kind of wheeled mobile robot for deep space exploration mission. Terrain understanding for robot navigation robert e. It implements legged wheels at the front allowing it to traverse. 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. This paper presents two novel methods for rough terrain mobile robots. During training, the system identifies a set of image chips or exemplars that.

The proposed terrain classification and characterization system comprises a skidsteer mobile robot, as well as. Pdf terrain trafficability characterization with a mobile robot. Study of terrain characterisation and trafficability analysis is important to achieve rapid traversal between different. 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. In this paper we present a comprehensive approach to learn the function of outdoor kinematics for mobile robots. Pdf terrain trafficability analysis and soil mechanical property. Terrain trafficability characterization with a mobile robot, ojeda, l. 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. Terrain characterization and classification with a mobile. Karlsen, member, ieee and gary witus, member, ieee abstract this paper presents a method to forecast terrain trafficability from visual appearance.

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. Towards autonomous mobile robots for the exploration of steep terrain 5 two people who hiked down to attached a sling. 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. The two proposed methods can be implemented on skidsteer mobile robots and possibly also on tracked mobile robots. 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. Experimental results with the kvh c100 fluxgate compass in mobile robots. Terrain trafficability characterization with a mobile robot. Improved traversal for planetary rovers through forward. Lauro ojeda, johann borenstein and gary witus, terrain trafficability characterization with a mobile robot, unmanned ground vehicle. Most research on offroad mobile robot sensing focuses on obstacle negotiation, path planning, and position estimation. Terrain feature extraction and classification for mobile. Pdf computer vision methods for improved mobile robot.

We focused on the scenario of mobile robot operation in a disaster environment with limited sensor data. 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. Abstractthis paper presents a new obstacle negotiation method for mobile robot navigation on rough terrain. Therefore, compared to indoor environments, the kinematics of mobile robots is much more complex. 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. For wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. 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. These issues have conventionally been the foremost factors limiting the performance and speeds of mobile robots. A method for mobile robot navigation on rough terrain. This project introduces the methods for terrain characterization with mobile robot. Heuristic reduction of gyro drift in imubased personnel tracking systems. It is thus required to analyse, in realtime, the 3d characteristics of the terrain and pair this data to the robot capabilities. Extraction of meaningful information from sensor data allows.

Facing such kinds of complex environments and terrains, the mobility and terrain trafficability performance of the lunar rover will be threatened to a certain. Read, download and publish shear magazines, ebooks for free. Mobile robot for uneven terrain university of pennsylvania. The paper also presents experimental results for each of the two implemented methods. Mobile robot with passively articulated driving tracks for. This study presents a new mobile robot with passively articulated driving tracks for high terrainability ta and maneuverability ma on unstructured, rough terrain.

These criteria are used to determine if a mode change is. 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 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. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain. Our scope is limited to mobile service robots that are used for surveillance or delivery in semistructured urban environments. Besides its ability to ride effectively on various terrains, robot body is designed in such a way that adding new hardware to. On the moon, the soft weathered layers, as well as different sizes of rocks and craters, are distributed disorderly and unsystematically. The design is inspired by the dfki robots asguard 2 and cesar 3, which won the 2008 esa lunar challenge. Future robot positions are estimated by employing gaussian process regression gpr in combination with an unscented kalman filter ukf. The state oftheart terrain characterisation methods for the planetary rovers. The models are formulated into an optimization problem. The success of future robotic surface exploration missions will depend on two key.

The legs are based on a paralleldrive 2r linkage that allows the motors to be located on the robot frame. Terrain trafficability analysis and soil mechanical property identification for planetary rovers. All mobile robots use locomotion that generates traction, negotiates terrain and carries payload. Terrain characterization, on the other hand, aims at determining key parameters of the terrain that affect its ability to support vehicular traffic. Terrain trafficability characterization with a mobile robot terrain trafficability characterization with a mobile robot ojeda, lauro. Terrain traversability analysis for off road robots using. This cited by count includes citations to the following articles in scholar. How can concepts of locomotion systems be elaborated and put into connection with a specific environment of interest. Adaptive traversability of unknown complex terrain with. 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 ability to detect traversable terrains is essential for autonomous mobile robots to guarantee safe navigation. Defense and security, international society for optics and photonics. For performance evaluation, the proposed mechanism was compared with. Terrain characterization and classification with a mobile robot.

The ones marked may be different from the article in the profile. Terrain trafficability characterization with a mobile. Planar view of an internally reconfigurable mobile robot for an internally reconfigurable robot the terrain profile does not influence the reconfiguration process. Search the leading research in optics and photonics applied research from spie journals, conference proceedings and presentations, and ebooks. Sensors and processors collect and transmit information and data from users as a result of the application of robot control systems and sensory feedback. Terrain classification for mobile robots on the basis of. Citeseerx document details isaac councill, lee giles, pradeep teregowda. Mobile, robot, offroad, terrain, characterization, trafficability. Terrain trafficability analysis and soil mechanical. However, there are few robots that are suitable for use in rough terrain.

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. Mobile robot for uneven terrain abstract this paper outlines the details of the development of a mobile robot than can navigate uneven terrain. Trafficability assessment of deformable terrain through. Pdf terrain characterization and classification with a. Numerical calculation and computer simulations are performed to verify the performance of the designed controller on soft terrain. Terrain trafficability characterization with a mobile robot, in. May 27, 2005 terrain trafficability characterization with a mobile robot terrain trafficability characterization with a mobile robot ojeda, lauro. Very little attention has been paid to date to the issue of terrain trafficability. How can a mobile robot s environment or its terrain of action be adequately represented with regard to trafficability considerations. The robot configuration can be defined without terrain information as q. Terrain parameter estimation and traversability assessment. Adhering to terrain characteristics for position estimation.