Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

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