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Proceedings Paper

Phobetor: Princeton University's entry in the 2010 Intelligent Ground Vehicle Competition
Author(s): Joshua Newman; Han Zhu; Brenton A. Partridge; Laszlo J. Szocs; Solomon O. Abiola; Ryan M. Corey; Srinivasan A. Suresh; Derrick D. Yu
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Paper Abstract

In this paper we present Phobetor, an autonomous outdoor vehicle originally designed for the 2010 Intelligent Ground Vehicle Competition (IGVC). We describe new vision and navigation systems that have yielded 3x increase in obstacle detection speed using parallel processing and robust lane detection results. Phobetor also uses probabilistic local mapping to learn about its environment and Anytime Dynamic A* (AD*) to plan paths to reach its goals. Our vision software is based on color stereo images and uses robust, RANSAC-based algorithms while running fast enough to support real-time autonomous navigation on uneven terrain. AD* allows Phobetor to respond quickly in all situations even when optimal planning takes more time, and uses incremental replanning to increase search efficiency. We augment the cost map of the environment with a potential field which addresses the problem of "wall-hugging" and smoothes generated paths to allow safe and reliable path-following. In summary, we present innovations on Phobetor that are relevant to real-world robotics platforms in uncertain environments.

Paper Details

Date Published: 24 January 2011
PDF: 15 pages
Proc. SPIE 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques, 78780Z (24 January 2011); doi: 10.1117/12.872642
Show Author Affiliations
Joshua Newman, Princeton Univ. (United States)
Han Zhu, Princeton Univ. (United States)
Brenton A. Partridge, Princeton Univ. (United States)
Laszlo J. Szocs, Princeton Univ. (United States)
Solomon O. Abiola, Princeton Univ. (United States)
Ryan M. Corey, Princeton Univ. (United States)
Srinivasan A. Suresh, Princeton Univ. (United States)
Derrick D. Yu, Princeton Univ. (United States)


Published in SPIE Proceedings Vol. 7878:
Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques
Juha Röning; David P. Casasent; Ernest L. Hall, Editor(s)

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