Original title: Collision Avoidance For Ateros Robotic System
Authors: Ligocki, Adam
Document type: Papers
Language: eng
Publisher: Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
Abstract: This paper describes the details of a collision avoidance algorithm for an ATEROS robotic system. The solution, developed and tested on the Orpheus robotic platform is based on a Velodyne HDL-32E laser scanner. The LiDAR point cloud input data are filtered to remove data redundancy and clustered to separate possible collision objects from the background. Based on prior environment knowledge and the current LiDAR scan, the surrounding occupancy grid map is estimated, and the planned path is validated against possible collision. In the case of a non-zero probability that the robot collides with an obstacle, a new path is proposed by the A* algorithm. Subsequently, the newly estimated waypoints are relaxed, and the mission plan is updated.
Keywords: Camera; Data Acquisition; Data Fusion; GNSS; IMU; LiDAR; Odometry
Host item entry: Proceedings of the 25st Conference STUDENT EEICT 2019, ISBN 978-80-214-5735-5

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/186738

Permalink: http://www.nusl.cz/ntk/nusl-414640


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