External Force Field Modeling for Autonomous Surface Vehicles
External Force Field Modeling for Autonomous Surface Vehicles
复制标题
自主地面车辆的外力场建模
DOI：
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复制
发表时间：
2018
期刊：
影响因子：
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通讯作者：
Ioannis M. Rekleitis
中科院分区：
文献类型：
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作者：
Jason Moulton;N. Karapetyan;Alberto Quattrini Li;Ioannis M. Rekleitis
在存在强大逆力的情况下操作是现场机器人技术中一个特别具有挑战性的问题。在大多数机器人没有牢固接地的机器人操作中，例如空中、水面和水下，都假定最小的外力作为标准操作程序。在存在重要力的情况下进行操作的第一个动作是对力及其对机器人运动的影响进行建模。在这项工作中，自主水面车辆（ASV）在风和水流变化的湖泊和河流上运行，通过廉价的定制传感器套件设置收集风和水流测量值，并生成力场模型。建模过程考虑了深度、风和电流测量以及来自 GPS 的 ASV 轨迹。在这项工作中，我们提出了一种让 ASV 通过在高斯过程中集成在表面收集的风、深度和电流测量值来构建环境力图的方法。我们在真正的 Jetyak ASV 上对我们的方法进行了广泛的现场实验。不同地点的实验结果验证了所提出的建模方法。
Operating in the presence of strong adverse forces is a particularly challenging problem in field robotics. In most robotic operations where the robot is not firmly grounded, such as aerial, surface, and underwater, minimal external forces are assumed as the standard operating procedures. The first action for operating in the presence of non-trivial forces is modeling the forces and their effect on the robots motion. In this work an Autonomous Surface Vehicle (ASV), operating on lakes and rivers with varying winds and currents, collects wind and current measurements with an inexpensive custom-made sensor suite setup, and generates a model of the force field. The modeling process takes into account depth, wind, and current measurements along with the ASVs trajectory from GPS. In this work, we propose a method for an ASV to build an environmental force map by integrating in a Gaussian Process the wind, depth, and current measurements gathered at the surface. We run extensive experimental field trials for our approach on real Jetyak ASVs. Experimental results from different locations validate the proposed modeling approach.
DOI：
10.1109/oceans.2018.8604718
发表时间：
2018-08
期刊：
OCEANS 2018 MTS/IEEE Charleston
影响因子：
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作者：
Jason Moulton;N. Karapetyan;Sharon Bukhsbaum;Chris McKinney;S. Malebary;G. Sophocleous;Alberto Quattrini Li;Ioannis M. Rekleitis
通讯作者：
Jason Moulton;N. Karapetyan;Sharon Bukhsbaum;Chris McKinney;S. Malebary;G. Sophocleous;Alberto Quattrini Li;Ioannis M. Rekleitis