Publication detail

Collision Avoidance for ATEROS Robotic System

LIGOCKI, A.

Original Title

Collision Avoidance for ATEROS Robotic System

English Title

Collision Avoidance for ATEROS Robotic System

Type

conference paper

Language

en

Original 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.

English 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

Data Acquisition, Camera, LiDAR, IMU, GNSS, Odometry, Data Fusion

Released

29.04.2019

Publisher

Vysoké učení technické vBrně, Fakulta elektrotechniky a komunikačních technologií

Location

Brno

ISBN

978-80-214-5735-5

Book

Proceedings of the 25thConference STUDENT EEICT 2019

Edition number

1.

Pages from

576

Pages to

580

Pages count

5

URL

Documents

BibTex


@inproceedings{BUT156703,
  author="Adam {Ligocki}",
  title="Collision Avoidance for ATEROS Robotic System",
  annote="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.",
  address="Vysoké učení technické vBrně, Fakulta elektrotechniky a komunikačních technologií",
  booktitle="Proceedings of the 25thConference STUDENT EEICT 2019",
  chapter="156703",
  howpublished="online",
  institution="Vysoké učení technické vBrně, Fakulta elektrotechniky a komunikačních technologií",
  year="2019",
  month="april",
  pages="576--580",
  publisher="Vysoké učení technické vBrně, Fakulta elektrotechniky a komunikačních technologií",
  type="conference paper"
}