TY - GEN
T1 - An autonomous mobile robot architecture for outdoor competitions
AU - Silva Porto, Leticia Helena
AU - De Oliveira, Rodrigo W.S.M.
AU - Bauchspiess, Ricardo
AU - Brito, Camila
AU - Da Cruz Figueredo, Luis Felipe
AU - Borges, Geovany A.
AU - Ramos, Guilherme N.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/24
Y1 - 2018/12/24
N2 - Outdoor autonomous navigation and obstacle avoidance are common challenges in robotic competitions, and solving them involves many different sets of skills. In this work, we present a modular architecture for controlling a robot in such tasks. It uses unscented Kalman filter and extended Kalman filter to fuse Global Positioning System, inertial measurement unit and odometry data; a model reference adaptive velocity controller, a proportional controller, and a deformable virtual zone algorithm for reactive obstacle avoidance. We also developed a computer vision target tracking algorithm. In the end, we show the importance of having quality sensors to work with.
AB - Outdoor autonomous navigation and obstacle avoidance are common challenges in robotic competitions, and solving them involves many different sets of skills. In this work, we present a modular architecture for controlling a robot in such tasks. It uses unscented Kalman filter and extended Kalman filter to fuse Global Positioning System, inertial measurement unit and odometry data; a model reference adaptive velocity controller, a proportional controller, and a deformable virtual zone algorithm for reactive obstacle avoidance. We also developed a computer vision target tracking algorithm. In the end, we show the importance of having quality sensors to work with.
KW - Autonomous Navigation
KW - Computer Vision
KW - Kalman Filter
KW - MRAC
KW - Motion Controller
KW - RRT
KW - Robot Architecture
KW - Robotic Competitions
UR - http://www.scopus.com/inward/record.url?scp=85061327047&partnerID=8YFLogxK
U2 - 10.1109/LARS/SBR/WRE.2018.00034
DO - 10.1109/LARS/SBR/WRE.2018.00034
M3 - Conference contribution
AN - SCOPUS:85061327047
T3 - Proceedings - 15th Latin American Robotics Symposium, 6th Brazilian Robotics Symposium and 9th Workshop on Robotics in Education, LARS/SBR/WRE 2018
SP - 147
EP - 152
BT - Proceedings - 15th Latin American Robotics Symposium, 6th Brazilian Robotics Symposium and 9th Workshop on Robotics in Education, LARS/SBR/WRE 2018
A2 - Goncalves, Luiz Marcos Garcia
A2 - dos Santos Garcia, Luciane Terra
A2 - do Nascimento, Tiago Pereira
A2 - de Lima Sa, Sarah Thomaz
A2 - Colombini, Esther Luna
A2 - de Brito, Alisson Vasconcelos
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th Latin American Robotics Symposium, 6th Brazilian Robotics Symposium and 9th Workshop on Robotics in Education, LARS/SBR/WRE 2018
Y2 - 6 November 2018 through 10 November 2018
ER -