OBSTACLE DETECTION IN MOBILE OUTDOOR ROBOTS - A Short-term Memory for the Mobile Outdoor Platform RAVON

H. Schäfer, M. Proetzsch, K. Berns

2007

Abstract

In this paper a biologically inspired approach for compensating the limited angle of vision in obstacle detection systems of mobile robots is presented. Most of the time it is not feasible to exhaustively monitor the environment of a mobile robot. In order to nonetheless achieve safe navigation obstacle detection mechanisms need to keep in mind certain aspects of the environment. In mammals this task is carried out by the creature’s short-term memory. Inspired by this concept an absolute local map storing obstacles in terms of representatives has been introduced in the obstacle detection and avoidance system of the outdoor robot RAVON. That way the gap between the fields of vision of two laser range finders can be monitored which prevents the vehicle from colliding with obstacles seen some time ago.

References

  1. Badal, S., Ravela, S., Draper, B., and Hanson, A. (1994). A practical obstacle detection and avoidance system. In IEEE Workshop on Applications of Computer Vision.
  2. Bonnafous, D., Lacroix, S., and Simon, T. (2001). Motion generation for a rover on rough terrain. In IEEE/RSJ International Conference on Intelligent Robots and Systems.
  3. Kamon, I., Rivlin, E., and Rimon, E. (1996). A new range-sensor based globally convergent navigation algorithm for mobile robots. In IEEE International Conference on Robotics and Automation (ICRA).
  4. Laubach, S. L. and Burdick, J. W. (1999). An autonomous sensor-based path-planner for planetary microrovers. In IEEE Int. Conf. on Robotics and Automation.
  5. McVea, D. and Pearson, K. (2006). Long-lasting memories of obstacles guide leg movements in the walking cat. The Journal of Neuroscience.
  6. Proetzsch, M., Luksch, T., and Berns, K. (2005). Faulttolerant behavior-based motion control for offroad navigation. In 20th IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain.
  7. Schäfer, H. and Berns, K. (2006). Ravon - an autonomous vehicle for risky intervention and surveillance. In International Workshop on Robotics for risky intervention and environmental surveillance - RISE .
  8. Schäfer, H., Proetzsch, M., and Berns, K. (2005). Extension approach for the behaviour-based control system of the outdoor robot ravon. In Autonome Mobile Systeme.
  9. Schmitz, N., Proetzsch, M., and Berns, K. (2006). Pose estimation in rough terrain for the outdoor vehicle ravon. In 37th International Symposium on Robotics (ISR).
  10. Shiller, Z. (2000). Obstacle traversal for space exploration. In IEEE International Conference on Robotics and Automation.
Download


Paper Citation


in Harvard Style

Schäfer H., Proetzsch M. and Berns K. (2007). OBSTACLE DETECTION IN MOBILE OUTDOOR ROBOTS - A Short-term Memory for the Mobile Outdoor Platform RAVON . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 141-148. DOI: 10.5220/0001630701410148


in Bibtex Style

@conference{icinco07,
author={H. Schäfer and M. Proetzsch and K. Berns},
title={OBSTACLE DETECTION IN MOBILE OUTDOOR ROBOTS - A Short-term Memory for the Mobile Outdoor Platform RAVON},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={141-148},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001630701410148},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - OBSTACLE DETECTION IN MOBILE OUTDOOR ROBOTS - A Short-term Memory for the Mobile Outdoor Platform RAVON
SN - 978-972-8865-83-2
AU - Schäfer H.
AU - Proetzsch M.
AU - Berns K.
PY - 2007
SP - 141
EP - 148
DO - 10.5220/0001630701410148