An Autonomous Mobile Robot Architecture for Outdoor Competitions

Porto, Leticia Helena Silva; Oliveira, Rodrigo Werberich da Silva Moreira de; Bauchspiess, Ricardo; Brito, Camila; Figueredo, Luis Felipe da Cruz; Borges, Geovany A.; Ramos, Guilherme

doi:10.1109/lars/sbr/wre.2018.00034

Cited by 1 publication

(1 citation statement)

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“…Robot competitions encourage the development of robotics in such tasks, and one of the better known is RoboMagellan 1an outdoor navigation competition which requires the robot to move in an unconstrained and unstructured real-world outdoor environment with different obstacles. In this paper, we expand on a previous work on the development of a robot platform to complete the task proposed by the RoboMagellan challenge [40].…”

Section: Introductionmentioning

confidence: 99%

A Robot Architecture for Outdoor Competitions

Oliveira

Bauchspiess

Porto

et al. 2020

J Intell Robot Syst

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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.

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Section: Introductionmentioning

confidence: 99%