Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedBT3 <strong>Pegaso</strong> B <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 09:30–<strong>10</strong>:30<br />
Field Robotics II<br />
Chair Urbano Nunes, Univ. de Coimbra<br />
Co-Chair Marcel Bergerman, Carnegie Mellon Univ.<br />
09:30–09:45 WedBT3.1<br />
Monocular Visual Navigation of an Autonomous<br />
Vehicle in Natural Scene Corridor-like Environments<br />
Ji Zhang, George Kantor,<br />
Marcel Bergerman, and Sanjiv Singh<br />
The Robotics Institute<br />
Carnegie Mellon University, USA<br />
• Goal: Autonomous vehicle row following in<br />
modern orchards using a monocular camera<br />
• Approach:<br />
I. Reconstruct tree rows based on<br />
structure from motion while<br />
minimizing variance of vehicle lookahead<br />
point<br />
II. Motion estimation is obtained from<br />
monocular camera and wheel<br />
encoders only<br />
• Results: 1.7 km of successful autonomous<br />
driving in a variety of orchards with different<br />
environmental conditions<br />
<strong>10</strong>:00–<strong>10</strong>:15 WedBT3.3<br />
Piecewise Affine Control for Fast Unmanned<br />
Ground Vehicles<br />
André Benine-Neto and Christophe Grand<br />
Institute of Intelligent Systems and Robotics (ISIR),<br />
University Pierre et Marie Curie, France<br />
• Steering control of Unmanned Ground<br />
Vehicle taking using steering angles and<br />
independent wheels torque<br />
• Nonlinear behavior of lateral forces taken<br />
into account in control synthesis through a<br />
Piecewise Affine approach.<br />
• Control synthesis through optimization<br />
problem involving Linear Matrix<br />
Inequalities. Stability ensured by<br />
Piecewise Quadratic Lyapunov function<br />
• Enhanced performance verified through<br />
simulations on nonlinear vehicle model<br />
Unmanned Ground Vehicle<br />
09:45–<strong>10</strong>:00 WedBT3.2<br />
The AmphiHex: a Novel Amphibious Robot with<br />
Transformable Leg-flipper Composite<br />
Propulsion Mechanism<br />
Xu Liang, Min Xu, Lichao Xu, Peng Liu, Xiaoshuang Ren,<br />
Ziwen Kong, Jie Yang, Shiwu Zhang<br />
Department of Precision Machinery and Precision Instrumentation,<br />
University of Science and Technology of China, China<br />
• The detailed structure design of the<br />
transformable leg-flipper propulsion<br />
mechanism and its drive module is<br />
introduced.<br />
• A preliminary theoretical analysis is<br />
conducted to study the interaction between<br />
the elliptic leg and transitional environment<br />
such as granular medium.<br />
• An orthogonal experiment is designed to<br />
study the leg locomotion in the sandy and<br />
muddy terrain with different water content.<br />
• Basic propulsion experiments of<br />
AmphiHex-I are launched to verify that the<br />
locomotion capability on land and<br />
underwater.<br />
<strong>10</strong>:15–<strong>10</strong>:30 WedBT3.4<br />
Tube-type Active Scope Camera<br />
with High Mobility and Practical Functionality<br />
Hiroaki Namari, Kazuhito Wakana,<br />
Michihisa Ishikura, Masashi Konyo and Satoshi Tadokoro<br />
Graduate School of Information Scienses, Tohoku University, Japan<br />
• A tube-type active scope camera<br />
enhanced mobility and functionality for<br />
search and rescue was developed<br />
• A smart structure to mount vibration<br />
motors on a long tubular cable without<br />
any rigid projections was designed<br />
• An auditory communication and gravity<br />
direction indication systems were<br />
mounted for practical use<br />
• High performance was confirmed at a<br />
training site for first responders<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–131–<br />
Integrated system and running<br />
experiment included the rubbles