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ICRA
2002
IEEE

Algorithms and Sensors for Small Robot Path Following

9 years 6 months ago
Algorithms and Sensors for Small Robot Path Following
Abstract— Tracked 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 (1) 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 results of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromag...
Robert W. Hogg, Arturo L. Rankin, Stergios I. Roum
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Robert W. Hogg, Arturo L. Rankin, Stergios I. Roumeliotis, Michael C. McHenry, Daniel M. Helmick, Charles F. Bergh, Larry Matthies
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