RAMBLER (DPI2011-22443)
Towards Long-Range Exploration Robot Autonomy
in Natural Environments
In long-range exploration missions, robots must deal with different tasks, such as building maps of their environment, determining their absolute and relative location, path planning, and obstacle avoidance. Moreover, to successfully fulfill these missions in natural terrains, robots require a significant increase in their cognitive abilities for detection, modeling, or classification of objects.
This project aims to develop and implement a set of new tools that will build upon previous results of the research group to advance towards the goal of a long-range exploration robot. These tools include the generation of maps of the environment with different levels of interpretation (cartography, occupation, slopes, admissible trajectories classification ...) as well as the inclusion of semantic information for the interpretation of elements different to the ground.
It will also address new SLAM robust mechanisms to allow long time operation under limited supervision. Furthermore, mapping techniques developed in the last Project will be extended for the implementation of 3D SLAM mechanisms in natural environments.
Also, the availability of these new maps will allow the design of new strategies for planning with extended cognitive abilities. The goal of these strategies is to allow safe navigation even in conditions where communication delays, or interruptions, impose a considerable degree of autonomy for successfully executing required the high-level tasks.
Referencia: DPI2011-22443
Título del Proyecto: RAMBLER: TOWARDS LONG-RANGE EXPLORATION ROBOT AUTONOMY IN NATURAL ENVIRONMENTS
Investigador Principal : GARCÍA CEREZO, ALFONSO gcerezo@ctima.uma.es
Centro: DPTO. INGENIERÍA DE SISTEMAS Y AUTOMÁTICA. UNIVERSIDAD DE MÁLAGA
PROJECT RESULTS
Ground vehicle developments for outdoor navigation on natural and rough terrain
- Development of the RAMBLER robot, with wheeled skid-steering and active suspension.
- Modeling and intelligent control of active suspension systems.
- Static tip-over stability analysis for a robotic vehicle with a single-axle trailer on slopes based on Altered Supporting Polygons.
3D simultaneous localization and mapping (SLAM)
- Globally consistent version of Lu & Milios SLAM based on two-dimensional (2D) scan registration.
- Nüchter 3D robotic mapping the simultaneous localization and mapping problem with six degrees of freedom.
- Development of compact Hokuyo-based 3D laser scanners.
- Boresight calibration of construction misalignments for 3D scanners.
3D modeling of natural environments
- Fast range-independent spherical subsampling of 3D laser scanner. points and data reduction performance evaluation for scene registration.
- Using multi-core processors to speed-up 3D point cloud matching with the coarse binary cubes method.
- Collapsible Cubes: Removing overhangs from 3D point clouds to build terrain elevation maps for navigation.
Navigation on natural terrain
- Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans.
- Building local semantic maps from 3D data for navigability assessment.
- Automation of the arm-aided climbing maneuver for tracked mobile robots.
- Driver Assistance System for passive multi-trailer vehicles with haptic steering limitations.
JOURNAL PUBLICATIONS
"Boresight Calibration of Construction Misaligments for 3D Scaners Built with a 2D Laser Rangefinder Rotating on its Optical Center" (2014)
Jesús Morales, Jorge L. Martínez, Anthony Mandow, Antonio J. Reina, Alejandro Pequeño-Boter and Alfonso García-Cerezo.
Sensors, Vol. 14, No. 11.
doi:10.3390/s141120025
"Automation of the Arm-Aided Climbing Maneuver for Tracked Mobile Manipulators" (2014)
Javier Serón, Jorge L. Martínez, Anthony Mandow, Antonio Reina, Jesús Morales and Alfonso García-Cerezo
IEEE Transactions on industrial Electronics, vol.61, no.7, pp.3638-3647.
doi:10.1109/TIE.2013.2272275
"Kinematic and Dynamic Analysis of McPherson Suspensión with a Planar Quarter-Car Model" (2013)
Jorge Hurel, Anthony Mandow, Alfonso García-Cerezo
Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility, vol. 5, n. 9, pp.1422-1437.
doi:10.1080/00423114.2013.804937
"Driver Assistance System for Passive Multi-trailer Vehicles with Haptic Steering Limitations on the Leading Unit" (2013)
Jesús Morales, Anthony Mandow, Jorge L. Martínez , Antonio J. Reina, Alfonso J. García-Cerezo
Sensors, 13 (4), pp. 1185-4498.
doi: 10.3390/s130404485
"Los Sistemas de Suspensión Activa y Semiactiva: Una Revisión. Active and Semi-active Suspension Systems: A Review" (2013) (in Spanish)
Jorge Hurel, Anthony Mandow, Alfonso J. García-Cerezo
Revista Iberoamericana de Automática e Informática Industrial., vol 10, n. 2, pp. 121-132.
doi:10.1016/j.riai.2013.03.002
"Steering the Last Trailer as a Virtual Tractor for Reversing Vehicles with Passive On- and Off-Axle Hitches" (2013)
Jesús Morales, Jorge L. Martínez, Anthony Mandow, Alfonso J. García-Cerezo
IEEE Transactions on Industrial Electronics, 60 (12), pp.5729-5736.
doi: 10.1109/TIE.2013.2240631
"Static Tip-Over Stability Analysis for a Robotic Vehicle with a Single-Axle Trailer on Slopes based on Altered Supporting Polygons" (2013)
Jesús Morales, Jorge L. Martínez, Anthony Mandow, Javier Serón and Alfonso J. García-Cerezo
IEEE Transactions on Mechatronics. 18 (2), pp. 697-705.
doi: 10.1109/TMECH.2011.2181955
"3D Registration of Laser Range Scenes by Coincidence of Coarse Binary Cubes" (2012)
Jorge L. Martínez, Antonio J. Reina, Anthony Mandow, and Jesús Morales
Machine Vision and Applications, 23 (5), pp. 857-867
doi:10.1007/s00138-011-0387-z
"Guest Editorial" (2011)
Anthony Mandow, Alfonso J. García-Cerezo
IEEE Transactions on Industrial Electronics, Vol. 58, No. 12, pp. 5286-5287.
doi:10.1109/TIE.2011.2165021
CONFERENCE PAPERS
"Collapsible cubes: Removing overhangs from 3D point clouds to build local navigable elevation maps" (2014)
Reina, A.J.; Martinez, J.L.; Mandow, A.; Morales, J.; Garcia-Cerezo, A.,
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.1012-1017.
doi: 10.1109/AIM.2014.6878213
"Conversión de un Robot Móvil de Cadenas en Vehículo Híbrido Eléctrico" (2014)
Valbuena, J..; Morales, J.; Mandow, A.; Martínez, J.L.; García-Cerezo, A.,
XXXV Jornadas de Automática, Valencia, España, pp. 1-6. Septiembre, 2014.
Download
"Tuning Using Multi-core Processors to Speed-Up 3D Point Cloud Matching with the Coarse Binary Cubes Method" (2013)
Jorge L. Martínez, Antonio J. Reina, Jesús Morales, Anthony Mandow, Alfonso García-Cerezo
IEEE International Conference on Mechatronics, Vicenza, Italy.
doi:10.1109/ICMECH.2013.6518558
"Tuning a Fuzzy Controller by Particle Swarm Optimization for an Active Suspension System" (2012)
Jorge Hurel, Anthony Mandow, Alfonso García-Cerezo
38th Annual Conference of the IEEE Industrial Electronics Society (IECON 2012), pp.2524-2529, Montréal, Canada.
doi:10.1109/IECON.2012.6388697
"Driver Assistance System for Backward Maneuvers in Passive Multi-Trailer Vehicles" (2012)
Jesús Morales, Anthony Mandow, Jorge L. Martínez, Alfonso García-Cerezo
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4853-4858, Vilamoura, Portugal.
doi:10.1109/IROS.2012.6385799
"Diseño de un Efector Final Hidráulico de Doble Función para el Robot Móvil ALACRANE" (in Spanish) (2012)
Jesús García, Jorge L. Martínez, Anthony Mandow, Alfonso García-Cerezo y Javier Serón
XXXIII Jornadas de Automática, Vigo, Spain.
"Terrace Climbing of the Alacrane Mobile Robot with Cooperation of its Onboard Arm" (2012)
J. Serón, A. García-Cerezo, J. L. Matínez, A. Mandow, J. García, J. Morales
12th IEEE International Workshop on Advanced Motion Control, Sarajevo, Bosnia and Herzegovina, pp. 1-6.
doi:10.1109/AMC.2012.6197043
"Nonlinear Two-Dimensional Modeling of a McPherson Suspension for Kinematics and Dynamics Simulation" (2012)
J. Hurel, A. Mandow, A. García-Cerezo
12th IEEE International Workshop on Advanced Motion Control, Sarajevo, Bosnia and Herzegovina, pp. 1- 6.
doi:10.1109/AMC.2012.6197009
"Maniobras 3D en el Robot ALACRANE: Paso de un Desnivel con apoyo del manipulador en el Suelo" (in Spanish) (2011)
J. Serón, A. García-Cerezo, J. L. Matínez, A. Mandow, J. García, J. Morales
Workshop ROBOT 2011, Sevilla, Spain.
"Fuzzy Modeling of Natural Terrain Elevation from a 3D Scanner Point Cloud" (2011)
Anthony Mandow, Tomás J. Cantador, Alfonso García-Cerezo, Jorge L. Martínez, Antonio J. Reina, and Jesús Morales.
IEEE 7th International Symposium on Intelligent Signal Processing, pp.1-5, Floriana, Malta.
doi: 10.1109/WISP.2011.6051705
"Design and Development of A Fast and precise Low-Cost 3D Laser Rangefinder" (2011)
Jesús Morales, Jorge Martínez, Anthony Mandow, Alejandro Pequeño-Boter, Alfonso García-Cerezo.
IEEE International Conference on Mechatronics ICM 2011, pp. 621-626. Istanbul, Turkey.
doi: 10.1109/ICMECH.2011.5971190
PUBLICATIONS ON EDUCATION FOR RESEARCH SKILLS
"Project-Based Learning of Scientific Writing and Communication Skills for Postgraduate Students"
Mandow, A; Martínez, J. L.; García-Cerezo, A.
IEEE Frontiers in Education Conference (FIE), pp.210-213, Oct. 2014.
doi: ieeexplore, pending, Download.
"Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems" (2014)
Gomez-de-Gabriel, J.M.; Mandow, A.; Fernandez-Lozano, J.; Garcia-Cerezo, A.
IEEE Transactions on Education vol.PP, no.99, pp.1,1
doi: 10.1109/TE.2014.2358551
"Using LEGO NXT Mobile Robots With LabVIEW for Undergraduate Courses on Mechatronics" (2011)
Gómez-de-Gabriel, J.M.; Mandow, A.; Fernández-Lozano, J.; Garcia-Cerezo, A.
IEEE Transactions on Education, vol.54, no.1, pp.41-47.
doi: 10.1109/TE.2010.2043359
DOCUMENTACIÓN ADICIONAL
Para ver el resto de la información, pinche aquí.
