de Oliveira, RWSM, Bauchspiess, R, Porto, LHS et al. (4 more authors) (2020) A Robot Architecture for Outdoor Competitions. Journal of Intelligent & Robotic Systems, 99 (3-4). pp. 629-646. ISSN 0921-0296
Abstract
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.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © Springer Nature B.V. 2020. This is an author produced version of an article published in Journal of Intelligent & Robotic Systems. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | System architecture; Autonomous robot; Robotics competition; Kalman filters; MRAC; Tracking |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 10 Mar 2020 11:14 |
Last Modified: | 17 Jun 2022 10:51 |
Status: | Published |
Publisher: | Springer Nature |
Identification Number: | 10.1007/s10846-019-01140-9 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:158195 |