Field Robot to Support Research on Long-Term Autonomous Navigation

本研究主要探讨移动的机器人在户外、非结构化、三维环境中的视觉导航，以应用于环境监测、行星探索、军事侦察、采矿等领域。 申请人目前的项目包括使用立体视觉的路径重复，使用视觉和天体传感器组合的导航，使用激光雷达强度图像对抗照明变化的导航，自动多传感器校准和迭代学习控制。 这些项目的共同主题是解决移动的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的现场机器人，能够在户外，崎岖的地形长期，长距离操作。该平台将帮助申请人产生重大的研究影响，并将有助于加拿大在机器人技术方面的国际竞争。

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.