A Robot Architecture for Outdoor Competitions

被引：9

作者：

de Oliveira, Rodrigo W. S. M. ^{[1
]}

Bauchspiess, Ricardo ^{[1
]}

Porto, Leticia H. S. ^{[1
]}

de Brito, Camila G. ^{[1
]}

Figueredo, Luis F. C. ^{[1
]}

Borges, Geovany A. ^{[1
]}

Ramos, Guilherme N. ^{[1
]}

机构：

[1] Univ Brasilia, BR-70910900 Brasilia, DF, Brazil

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2020年 / 99卷 / 3-4期

关键词：

System architecture; Autonomous robot; Robotics competition; Kalman filters; MRAC; Tracking; MOBILE; NAVIGATION; FUSION; SYSTEM;

D O I：

10.1007/s10846-019-01140-9

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Autonomous navigation in unstructured environments is a common topic of research, being motivated by robotic competitions and involving several sets of skills. We present a modular architecture to integrate different components for path planning and navigation of an autonomous mobile robot. This architecture was developed in order to participate in the RoboMagellan competition hosted by RoboGames. It is divided in the organizational, functional and executive levels in order to secure that the developed system has programmability, autonomy, adaptability and extensibility. Global and local localization strategies use unscented and extended Kalman filters (UKF and EKF) to fuse data from a Global Positioning System (GPS) receiver, inertial measurement unit (IMU), odometry and camera. Movement is controlled by a model reference adaptive controller (MRAC) and a proportional controller. To avoid obstacles a deformable virtual zone (DVZ) approach is used. The architecture was tested in simulated environments and with a real robot, providing a very flexible approach to testing different configurations.

引用

页码：629 / 646

页数：18

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