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

Session WedAT3 Pegaso B Wednesday, October 10, 2012, 08:30–09:30
Field Robotics I
Chair Urbano Nunes, Univ. de Coimbra
Co-Chair Marcel Bergerman, Carnegie Mellon Univ.
08:30–08:45 WedAT3.1
Natural Feature Based Localization
in Forested Environments
Meng Song, Fengchi Sun
College of Software, Nankai University, China
Karl Iagnemma
Department of Mechanical Engineering, MIT, USA
• A new feature based
scan matching method
for solving full 6D
localization problem in
forested environments.
• Tree trunks are directly
utilized as high-level
features for registration.
• The registration result is
independent of the initial
poses of the scans.
09:00–09:15 WedAT3.3
Electro-hydraulically actuated forestry
manipulator: Modeling and Identification
Pedro La Hera
Forest Technology, SLU, Sweden
Bilal Ur Rehman and Daniel Ortiz Morales
Applied Physics, Umeå University, Sweden
• We consider the problem of
modeling dynamics of a electrohydraulic
forestry manipulator.
• Results of simulation tests show a
significant correspondence of the
model to the recorded data
• Such models are to be used
further for model based design.
Experimental setup
08:45–09:00 WedAT3.2
A Practical Obstacle Detection System
for Autonomous Orchard Vehicles
Gustavo Freitas
Dept. of Electrical Eng., Federal University of Rio de Janeiro, Brazil
Bradley Hamner, Marcel Bergerman and Sanjiv Singh
Field Robotics Center, Robotics Institute, Carnegie Mellon University, USA
• Goal: An obstacle detection system for
autonomous orchard vehicle navigation
between rows of trees
• Key requirement: To be affordable to
growers, the system should not add to the
hardware cost of the vehicle
• Our approach: Detect people and bins
using a laser-scanner, a low-cost inertial
measurement unit, and steering and wheel
encoders
• Results: Field experiments in apple
orchards show the system reliably detects
the target obstacles, and to an extent
small and moving ones
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–121–
Person detected during field
tests. The perceived obstacle is
marked with a black star.
09:15–09:30 WedAT3.4
Rocker-Pillar : Design of the Rough Terrain
Mobile Robot Platform with Caterpillar and
Rocker Bogie Mechanism
Dongkyu Choi, Jeong R Kim, Sunme Cho, Seungmin Jung,
and Jongwon Kim
School of Mechanical Engineering,
Seoul National University, Seoul, Korea
• Mobile robot platform with caterpillar on
front of the rocker-bogie mechanism
• High maneuverable on urban environment
by using caterpillars
• High stability on rough terrain in a high
speed with rocker-bogie mechanism
• Experiments are performed on rough
terrain (rugged terrain, holes, steps, and
stairs )
r ugged t er r ai n
hol e
s t ep s t ai r