Field Robot to Support Research on Long-Term Autonomous Navigation

支持长期自主导航研究的野外机器人

• 批准号: 439702-2013
• 负责人: Barfoot, Tim
• 金额: $ 10.53万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments - Category 1 (<$150,000)
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=510042
• 关键词: Field; Robot; Support; Research; Long

This research is concerned with visual navigation of mobile robots in outdoor, unstructured, three-dimensional environments for use in real-world applications such as environmental monitoring, planetary exploration, military reconnaissance, and mining. The applicants' current projects include path repetition using stereo vision, navigation using a combination of visual and celestial sensors, navigation using lidar intensity imagery to combat lighting change, automatic multisensor calibration, and iterative learning control. The common theme of these projects is to address long-term exploration of mobile robots in real-world environments. The requested equipment is comprised of a large field robot that is capable of long-term, long-distance operation in outdoor, rough terrain. This platform will help the applicants to make a major research impact and will contribute to Canada competing internationally in robotics.

这项研究涉及移动机器人在室外、非结构化、三维环境中的视觉导航，用于环境监测、行星探测、军事侦察和采矿等实际应用。申请者目前的项目包括使用立体视觉的路径重复，使用视觉和天文传感器相结合的导航，使用激光雷达强度图像来对抗光照变化的导航，自动多传感器校准，以及迭代学习控制。这些项目的共同主题是解决移动机器人在现实世界环境中的长期探索。所要求的设备包括一个大型野战机器人，能够在室外崎岖的地形中进行长期、远距离的操作。这个平台将帮助申请者产生重大的研究影响，并将有助于加拿大在机器人领域的国际竞争。