Outdoor person following at higher speeds using a skid-steered mobile robot

Huskic, Goran; Buck, Sebastian; Gonzalez, Luis Azareel Ibarguen; Zell, Andreas

doi:10.1109/iros.2017.8206182

Cited by 16 publications

(12 citation statements)

References 15 publications

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“…The complete solution was cloned from one vehicle to another, a very different one, without any parameter tuning, and still gave satisfying results. Furthermore, in Huskić et al (2017a) the proposed approach is extended for person following and obstacle avoidance, and tested with the same parameter set on various different terrain types, on large-scale paths.…”

Section: Discussionmentioning

confidence: 99%

“…In Huskić et al (2017a), an extension of the HBZ controller was evaluated using a Robotnik Summit XL robot for person following. The feedback control, however, is the same as that presented in this paper.…”

Section: Experimental Evaluationmentioning

confidence: 99%

“…Furthermore, the most influential ICR parameter for the feedback control is x ICR , which in this example has similar values for all three runs, and the control parameters g, z, and s are kept the same. In Huskić et al (2017a), an extension of the HBZ controller was evaluated using a Robotnik Summit XL robot for person following. The feedback control, however, is the same as that presented in this paper.…”

Section: Experiments With Robotnik Summit XLmentioning

confidence: 99%

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High-speed path following control of skid-steered vehicles

Huskic

Buck

Herrb

et al. 2019

The International Journal of Robotics Research

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We present a robust control scheme for skid-steered vehicles that enables high-speed path following on challenging terrains. First, a kinematic model with experimentally identified parameters is constructed to describe the terrain-dependent motion of skid-steered vehicles. Using Lyapunov theory, a nonlinear control law is defined, guaranteeing the convergence of the vehicle to the path. To allow smooth and accurate motion at higher speeds, an additional linear velocity control scheme is proposed, which takes actuator saturation, path following error, and reachable curvatures into account. The combined solution is experimentally evaluated and compared against two state-of-the-art algorithms, by using two different robots on several different terrain types, at different speeds. A Robotnik Summit XL robot is tested on three different terrain types and two different paths at speeds up to [Formula: see text] m/s. A Segway RMP 440 robot is tested on three different terrain types and two different path types at speeds up to [Formula: see text] m/s.

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Section: Discussionmentioning

confidence: 99%

Section: Experimental Evaluationmentioning

confidence: 99%

Section: Experiments With Robotnik Summit XLmentioning

confidence: 99%

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High-speed path following control of skid-steered vehicles

Huskic

Buck

Herrb

et al. 2019

The International Journal of Robotics Research

Self Cite

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“…Standard path planners typically represent the state space using cells, grids, or potential fields and then apply various search methods to find the optimal source-to-destination path. For instance, the navigation space (and the locations of relevant objects) is often interpreted using an occupancy grid , and graph search-based algorithms, such as A * , D * , or IDA * (Iterative Deepening A * ), are used to find the optimal path (Ahn et al, 2018; Huskić et al, 2017; Müller et al, 2008). Another approach is to randomly sample the state space and attempt to establish source-to-destination connectivity using such techniques as rapidly exploring random trees (RRTs) (Triebel et al, 2016), RRT * , or probabilistic road maps (Hoeller et al, 2007).…”

Section: State-of-the-art Approachesmentioning

confidence: 99%

“…For instance, UGVs operating in known indoor environments can take advantage of a global map (Nikdel et al, 2018) in order to accurately plan to navigate while avoiding obstacles (Triebel et al, 2016). Even when a global map is not available, 3D sensing capabilities (e.g., a camera with sonar, LRF, or infrared sensors, or several cameras) are needed to obtain localized 3D information about the world, which can be used for SLAM-based navigation (Huskić et al, 2017; Skydio, 2018). Furthermore, based on application-specific requirements, the rules of social norms and desired implicit behaviors of the robot must be modeled as prior knowledge and eventually incorporated into planning and control modules.…”

Section: Qualitative Analysis: Feasibility Practicality and Desimentioning

confidence: 99%

Person-following by autonomous robots: A categorical overview

Islam

Hong

Sattar

2019

The International Journal of Robotics Research

109

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A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working environments and applications pose diverse challenges by adding constraints on the choice of sensors, the degree of autonomy, and dynamics of a person-following robot. Researchers have addressed these challenges in many ways and contributed to the development of a large body of literature. This paper provides a comprehensive overview of the literature by categorizing different aspects of person-following by autonomous robots. Also, the corresponding operational challenges are identified based on various design choices for ground, underwater, and aerial scenarios. In addition, state-of-the-art methods for perception, planning, control, and interaction are elaborately discussed and their applicability in varied operational scenarios are presented. Then, some of the prominent methods are qualitatively compared, corresponding practicalities are illustrated, and their feasibility is analyzed for various usecases. Furthermore, several prospective application areas are identified, and open problems are highlighted for future research.

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CS::APEX: A Framework for Algorithm Prototyping and Experimentation with Robotic Systems

Buck

Zell

2018

J Intell Robot Syst

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Outdoor person following at higher speeds using a skid-steered mobile robot

Cited by 16 publications

References 15 publications

High-speed path following control of skid-steered vehicles

High-speed path following control of skid-steered vehicles

Person-following by autonomous robots: A categorical overview

CS::APEX: A Framework for Algorithm Prototyping and Experimentation with Robotic Systems

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