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Proceedings Paper

Way-point navigation for a skid-steer vehicle in unknown environments
Author(s): Peiyi Chen; Arun Das; Prasenjit Mukherjee; Steven Waslander
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Paper Abstract

Unmanned ground vehicles (UGVs) allow people to remotely access and perform tasks in dangerous or inconvenient locations more effectively. They have been successfully used for practical applications such as mine detection, sample retrieval, and exploration and mapping. One of the fundamental requirements for the autonomous operation of any vehicle is the capability to traverse its environment safely. To accomplish this, UGVs rely on the data from their on-board sensors to solve the problems of localization, mapping, path planning, and controls. This paper proposes a combined mapping, path planning, and controls solution that will allow a skidsteer UGV to navigate safely through unknown environments and reach a goal location. The mapping algorithm generates 2D maps of the traversable environment, the path planner uses these maps to find kinodynamically feasible paths to the goal, and the tracking controller ensures that the vehicle stays on the generated path during traversal. All of the algorithms are computationally efficient enough to run onboard the robot in real-time, and the proposed solution has been experimentally verified on a custom built skid-steer vehicle allowing it to navigate to desired GPS waypoints through a variety of unknown environments.

Paper Details

Date Published: 23 January 2012
PDF: 15 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010N (23 January 2012); doi: 10.1117/12.910074
Show Author Affiliations
Peiyi Chen, Univ. of Waterloo (Canada)
Arun Das, Univ. of Waterloo (Canada)
Prasenjit Mukherjee, Univ. of Waterloo (Canada)
Steven Waslander, Univ. of Waterloo (Canada)


Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

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