Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
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发表时间：
2019-08
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通讯作者：
Alexander H. Chang;Shiyu Feng;Yipu Zhao;Justin S. Smith;P. Vela
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作者：
Alexander H. Chang;Shiyu Feng;Yipu Zhao;Justin S. Smith;P. Vela
蛇形机器人的直线运动形式预计在以城市灾区、地下坍塌和其他自然环境为特征的布满障碍物的场景中具有优势。与这些运动策略相关的细长且横向狭窄的占地形状非常适合在狭窄空间和通道中穿行。然而，在没有全局感知的情况下进行导航和路径规划仍然是在这些机器人机构实际部署之前需要解决的关键挑战。需要解决几个与视觉处理和定位相关的挑战才能实现导航。作为朝着这个方向迈出的第一步，我们在机器蛇的头部安装了一个无线单目彩色摄像头。基于ORB - SLAM的视觉里程计和地图构建允许在平面的、布满障碍物的环境中进行自我定位。结合感知空间碰撞检测的地平面可通行性分割允许进行导航的路径规划。先前提出的将直线蛇形运动简化为非完整运动学车辆的动力学方法为同时进行SLAM和规划提供了依据。然后应用简化的运动模型来跟踪通过障碍物布局的规划轨迹。这个导航框架使蛇形机器人平台能够仅依靠单目视觉在未知场景中自主导航和穿行。
Rectilinear forms of snake-like robotic locomotion are anticipated to be an advantage in obstacle-strewn scenarios characterizing urban disaster zones, subterranean collapses, and other natural environments. The elongated, laterally-narrow footprint associated with these motion strategies is well-suited to traversal of confined spaces and narrow pathways. Navigation and path planning in the absence of global sensing, however, remains a pivotal challenge to be addressed prior to practical deployment of these robotic mechanisms. Several challenges related to visual processing and localization need to be resolved to to enable navigation. As a first pass in this direction, we equip a wireless, monocular color camera to the head of a robotic snake. Visiual odometry and mapping from ORB-SLAM permits self-localization in planar, obstacle-strewn environments. Ground plane traversability segmentation in conjunction with perception-space collision detection permits path planning for navigation. A previously presented dynamical reduction of rectilinear snake locomotion to a non-holonomic kinematic vehicle informs both SLAM and planning. The simplified motion model is then applied to track planned trajectories through an obstacle configuration. This navigational framework enables a snake-like robotic platform to autonomously navigate and traverse unknown scenarios with only monocular vision.