Staged Experiments in Mobile Vehicle Autonomy – Procedures and Results with the Segway RMP

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Authors
  1. Giesbrecht, J.
  2. Collier, J.
  3. Monckton, S.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
This paper presents details and results for experiments conducted at DRDC Suffield in autonomous robot control of the Segway RMP (Robotic Mobility Platform). The autonomous control was a demonstration of robotic abilities achievable with an inexpensive, rapid implementation by a small team using off-the-shelf hardware and software. It was based upon the Player/Stage robot software development environment, and used a basic sensor suite consisting of a SICK laser scanner, GPS localization, and robot distance encoders. The demonstration was able to achieve basic teleoperation, as well as autonomous dead-reckoning, GPS waypoint following, obstacle avoidance and leader/follower behaviour. Safety procedures and robot performance metrics applicable to all autonomous vehicle research were also developed over the course of this project, and are documented in this report.

Il y a un résumé en français ici.

Keywords
cooperative behaviour;autonomy;control;modularity;Segway;Autonomous navigation;Autonomous operation
Report Number
DRDC-SUFFIELD-TM-2004-288 — Technical Memorandum
Date of publication
01 Dec 2004
Number of Pages
54
DSTKIM No
CA025613
CANDIS No
523292
Format(s):
CD ROM

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