Open Access Open Access  Restricted Access Subscription or Fee Access

The Exploration of Autonomous Mobile Robot Movement Characteristics in Difficult Off-road Conditions of a Coastal Zone

Dmitry Yu. Tyugin, Andrey A. Kurkin, Vitaliy D. Kuzin, Denis V. Zeziulin, Vladimir S. Makarov, Roman V. Shamin

Abstract



In this paper, we present the results of the study of autonomous mobile robot movement characteristics in a laboratory environment using small-scale ground vehicles. We consider methods of localization, obstacles detection and path planning for the research robot travelling along a coast. In our approach, we provide techniques for simulation of outdoor conditions in the laboratory using special indoor track with various types of road surfaces (sand, stones, grass). The results of the experiment on autonomous movement in off-road conditions are considered and travelling paths of the robot during a computer simulation and movement in a real environment are compared. Position error is estimated for different types of road surfaces and further solutions are proposed.

Keywords


Autonomous ground vehicle, road surfaces, position error estimation, research robot, virtual LIDAR, indoor GPS simulation

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.