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Algorithms and Sensors for Small Robot Path FollowingTracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.
Document ID
20070034842
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Hogg, Robert W.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Rankin, Arturo L.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Roumeliotis, Stergios I.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
McHenry, Michael C.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Helmick, Daniel M.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bergh, Charles F.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Matthies, Larry
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 24, 2013
Publication Date
May 11, 2002
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: IEEE International Conference on Robotics and Automation
Location: Washington, DC
Country: United States
Start Date: May 11, 2002
End Date: May 15, 2002
Sponsors: Institute of Electrical and Electronics Engineers
Funding Number(s)
CONTRACT_GRANT: NAS7-1407
Distribution Limits
Public
Copyright
Other
Keywords
path following
sensors
pure pursuits
localizations
leader/folloer
mobile robots
Kalman filtering

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