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原文传递 Staged Experiments in Mobile Vehicle Autonomy. Procedures and Results with the SegwayRMP

题名：	Staged Experiments in Mobile Vehicle Autonomy. Procedures and Results with the SegwayRMP
作者：	Monckton, S.;Collier, J.;Giesbrecht, J.;
关键词：	ROBOTICS, CONTROL SYSTEMS, AUTONOMOUS NAVIGATION, COMPUTER PROGRAMS, DEMONSTRATIONS, ROBOTS, CANADA, OFF THE SHELF EQUIPMENT, PLATFORMS, SAFETY.
摘要：	This paper presents details and results for experiments conducted at DRDC Suffield in autonomous robot control of the Segway RMP (Robotic Mobility Platform). The autonomous control was a demonstration of robotic abilities achievable with an inexpensive, rapid implementation by a small team using off-the-shelf hardware and software. It was based upon the Player/Stage robot software development environment, and used a basic sensor suite consisting of a SICK laser scanner, GPS localization, and robot distance encoders. The demonstration was able to achieve basic teleoperation, as well as autonomous deadreckoning, GPS waypoint following, obstacle avoidance and leader/follower behaviour. Safety procedures and robot performance metrics applicable to all autonomous vehicle research were also developed over the course of this project, and are documented in this report.
总页数：	52
报告类型：	科技报告