Combining multiple robot behaviors for complex off-road missions

Author

Luettel, Thorsten ; Himmelsbach, M. ; Manz, M. ; Mueller, A. ; Hundelshausen, F.V. ; Wuensche, H.-J.

Author_Institution

Inst. for Autonomous Syst. Technol. (TAS), Univ. of the Bundeswehr Munich, Neubiberg, Germany

fYear

2011

fDate

5-7 Oct. 2011

Firstpage

674

Lastpage

680

Abstract

This paper gives an overview of the autonomous off-road navigation approach developed for the ground robot vehicle MuCAR-3. It integrates our approaches to goal-directed and GIS-data supported autonomous navigation, autonomous person and vehicle following and shuttling on a taught track into a single system. The perceptual prerequisites necessary to realize the different robot behaviors are presented in detail, and we show how the individual behaviors available to our robot are coordinated to solve the complex off-road mission of the mule transport scenario at the European Land Robot Trials 2010. Finally, we give an impression of the system´s performance by analyzing the results obtained at the trials.

Keywords

mobile robots; multi-robot systems; European Land Robot Trials 2010; GIS-data; autonomous off-road navigation approach; autonomous person; complex off-road missions; goal-directed data; ground robot vehicle MuCAR-3; mule transport scenario; multiple robot behaviors; vehicle following; vehicle shuttling; Global Positioning System; Laser radar; Roads; Robot kinematics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on

Conference_Location

Washington, DC

ISSN

2153-0009

Print_ISBN

978-1-4577-2198-4

Type

conf

DOI

10.1109/ITSC.2011.6082940

Filename

6082940