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Terrestrial intelligent general-purpose robotic explorer
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Resumo(s)
In this work, the TIGRE - Terrestrial Intelligent General-purpose Robotic Explorer is presented. This ground robot was developed to support research activities in autonomous robotic applications in outdoor scenarios. It constitutes a testbed for validation and experimentation on robotic navigation and mapping for unstructured environments, long term autonomy, active perception algorithms, 3D environment modelling and multi robot coordination developments.
The vehicle is based on a electric powered four wheel ATV (all terrain vehicle) equipped with navigation and application sensors, onboard computational power and wireless communications.
A high precision GPS system and a set of laser scanner sensors equipped on the robot allows applications for precise 3D modelling of the environment. A modular approach was taken for both the hardware and software design ensuring a flexible and incremental development path. This coupled with the use of open source ROS middleware allows for a high degree of flexibility and rapid setup times for multiple robotics research experiments.
The vehicle architecture, navigation, control and coordination systems are also described. The hybrid systems approach to the control architecture is discussed in the context of multiple robot coordination. A multi camera vision system, comprising visible spectrum and infra-red cameras is presented along with some vision based target detection results on an outdoor scenario.
Descrição
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Contexto Educativo
Citação
Martins, A., Amaral, G., Dias, A., Almeida, C., Almeida, J. & Silva, E. (2014). Terrestrial intelligent general-purpose robotic explorer. Robótica, (94), 8-14.
Editora
CIE - Comunicação e Imprensa Especializada
Coleções
Licença CC
Sem licença CC