Virtual road networks for long-term visual navigation of unmanned ground vehicles

用于无人地面车辆长期视觉导航的虚拟路网

• 批准号: 476565-2014
• 负责人: Barfoot, Tim
• 金额: $ 2.5万
• 依托单位: University of Toronto
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=644642
• 关键词: Virtual; road; networks; long; term

Mobile robotics technology has advanced at a rapid pace in the last decade, making applications such as automated mining, agriculture, safety & security, and self-driving cars a near-term reality. The University of Toronto (UofT) has been developing a visual route-following technique for Unmanned Ground Vehicles (UGVs) that will serve as a key building block to enable this vision. To date, the technique has been tested primarily on point-to-point paths over short periods of time (i.e., a few days).****The main goal of this proposal is to extend this core technique to allow an entire virtual road network (e.g., tens of kilometres of interconnected paths) to be defined and used for visual navigation of UGVs in a variety of service applications over long periods of time (i.e., months or years). This will require major advances in several areas including map maintenance, robust localization, and dynamic route planning. The project will be carried out in partnership with Clearpath Robotics Inc., an emerging world-class provider of unmanned vehicles located in Canada.****This leap forwards in navigation technology will allow UofT to make core scientific advances in the area of long-term autonomy for mobile robots and will allow Clearpath to incorporate these advances in their future products and solutions, thereby expanding their customer base.

移动的机器人技术在过去十年中发展迅速，使自动采矿、农业、安全和自动驾驶汽车等应用成为近期现实。多伦多大学（UofT）一直在开发一种用于无人地面车辆（UGV）的视觉路线跟踪技术，该技术将作为实现这一愿景的关键构建块。到目前为止，该技术主要在短时间内的点对点路径上进行了测试（即，几天）。*该提议的主要目标是扩展该核心技术以允许整个虚拟道路网络（例如，数十公里的互连路径）被定义并用于长时间段内各种服务应用中的UGV的视觉导航（即，几个月或几年）。这将需要在几个领域取得重大进展，包括地图维护，鲁棒定位和动态路线规划。该项目将与Clearpath Robotics Inc.合作进行，一家位于加拿大的新兴世界级无人驾驶汽车供应商。导航技术的这一飞跃将使UofT能够在移动的机器人长期自主领域取得核心科学进步，并将使Clearpath能够将这些进步纳入其未来的产品和解决方案中，从而扩大其客户群。