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Proceedings Paper

Experiments with driving modes for urban robots
Author(s): Martial Hebert; R. MacLachlan; P. Chang
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Paper Abstract

In this paper, we describe experiments on semi-autonomous control of a small urban robot. Three driving modes allow semiautonomous control ofthe robot through video imagery, or by using partial maps ofthe envircmmait. Performance is analyzed in terms of maximum speed, terrain roughness, environmental conditions, and ease of control. We concentrate the discussion on a driving mode based on visual servoing. In this mode, a template designated in an image is tracked as the robot moves toward the destination designated by the operator. Particular attention is given to the robustness of the tracking with respect to template selection, computational resources, occlusions, and rough motion. The discussion of algorithm performance is based on experiments conducted at Ft. Sam Houston, TX, on Jul. 5-9 1999. In addition to the driving modes themselves, the perfonnance and practicality of an omnidirectional imaging sensor is discussed. In particular, we discuss the typical imaging artifacts due to ambiit lighting.

Paper Details

Date Published: 15 November 1999
PDF: 10 pages
Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); doi: 10.1117/12.369249
Show Author Affiliations
Martial Hebert, Carnegie Mellon Univ. (United States)
R. MacLachlan, Carnegie Mellon Univ. (United States)
P. Chang, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 3838:
Mobile Robots XIV
Douglas W. Gage; Howie M. Choset, Editor(s)

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