Title :
TIGRE — An autonomous ground robot for outdoor exploration
Author :
Martins, Alfredo ; Amaral, Guilherme ; Dias, Andre ; Almeida, Claudia ; Almeida, Jorge ; Silva, Enrico
Abstract :
In this paper we present an autonomous ground robot developed for outdoor applications in unstructured scenarios. The robot was developed as a versatile robotics platform for development, test and validation of research in navigation, control, perception and multiple robot coordination on all terrain scenarios. The hybrid systems approach to the control architecture is discussed in the context of multiple robot coordination. The robot modular hardware and software architecture allows for a wide range of mission applications. A precise navigation system based on high accuracy GPS is used for accurate 3D environment mapping tasks. The vision system is also presented along with some example results from stereo target tracking in operational environment.
Keywords :
Global Positioning System; mobile robots; multi-robot systems; robot vision; software architecture; stereo image processing; target tracking; telerobotics; 3D environment mapping tasks; GPS; TIGRE; autonomous ground robot; control architecture; hybrid system approach; mission applications; multiple robot coordination; operational environment; outdoor exploration; robot modular hardware architecture; robot modular software architecture; stereo target tracking; unstructured scenarios; versatile robotics platform; vision system; Cameras; Global Positioning System; Robot kinematics; Robot sensing systems; Vehicles;
Conference_Titel :
Autonomous Robot Systems (Robotica), 2013 13th International Conference on
Conference_Location :
Lisbon
Print_ISBN :
978-1-4799-1246-9
DOI :
10.1109/Robotica.2013.6623529