Naslov
Autonomous Navigation of a Tracked Unmanned Ground Vehicle

Autori
Seder, Marija ; Jurić, Anđela ; Šelek, Ana ; Marić, Filip ; Lovrić, Marija ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
11th IFAC Symposium on Intelligent Autonomous Vehicles / - , 2022

Skup
Intelligent Autonomous Vehicles - 11th IAV 2022

Mjesto i datum
Prag, Češka Republika, 06.07.2022. - 08.07.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robot navigation ; path planning ; obstacle detection and avoidance ; motion control ; map building

Sažetak
This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

POVEZANOST RADA