Milestone Report
نویسنده
چکیده
Typical obstacle-recognition systems on mobile robots use stereo-vision or laser ranging to perform classification. The Yeti Robot, a robot designed to perform medium range autonomous traverses in Antarctica and Greenland, is not currently equipped with vision or LADAR, but has a proprioceptive sensor suite including 6-axis IMU, wheel encoders, wheel motor current, and GPS. The purpose of this project is to increase the mobility of the Yeti robot by enabling it to recognize obstacles in real time, so it can appropriately recover in the event that it becomes immobilized. Different discrete types of obstacles, like a step obstruction, steep slope, or deep snow, require different control strategies for optimal recovery. By identifying how the robot is immobilized, the robot can then apply an appropriate recovery strategy.
منابع مشابه
INSTITUT FÜR INFORMATIK der Technischen Universität München
b b b b b b b b b b b b b b b b b b b Abstract In this report we present the test points for measurements within the current project and give reasons for these decisions. On the basis of milestone 3 report we state the diierent measurement tasks in detail that are necessary to calibrate the chosen source models and to validate the corresponding model assumptions. We conclude this report with an...
متن کاملJPL Document D - 60326 Exoplanet Interferometry Technology Milestone # 3 Report Broadband Starlight
This document reports the achievement of Exoplanet Interferometry Technology Milestone #3, a demonstration of broadband starlight suppression in the mid-infrared. We review the milestone specification from the Milestone Whitepaper (October 10, 2007), summarize the experiments performed in the Adaptive Nuller testbed, detail the procedures and analysis of the resulting data, and describe and pre...
متن کاملEU-U.S. Cooperation on Satellite Navigation - Working Group C - ARAIM Technical Subgroup - Milestone 2 Report
متن کامل
Biological Water-Gas Shift Conversion of Carbon Monoxide to Hydrogen: Milestone Completion Report
متن کامل
Modeling Dynamic Factors Affecting Fine Motor Development Milestone 3-8 Months Old Infants with Using Structural Equation
The present study aims to investigate the Modeling dynamic factors affecting fine motor development milestone of 9- 12 month old infants. The study was a descriptive- survey, that considering the type and aims of the research was considered as an applied research. To this end 283 infants were screened in regard with age and stage questionnaire. The applied measures were preparation of the home ...
متن کامل