NDLI: Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation

Content Provider	IEEE Xplore Digital Library
Author	Proetzsch, M. Luksch, T. Berns, K.
Copyright Year	2005
Description	Author affiliation: AG Robotersysteme, Fachbereich Informatik University of Kaiserslautern Gottlieb-Daimler-Straße, 67663 Kaiserslautern, Germany; proetzsch@informatik.uni-kl.de (Proetzsch, M.)
Abstract	Many tasks examined for robotic application like rescue missions or humanitarian demining require a robotic vehicle to navigate in unstructured natural terrain. This paper introduces a motion control for a four-wheeled offroad vehicle trying to tackle the problems arising. These include rough ground, steep slopes, wheel slippage, skidding and others that are difficult to grasp with a physical model and often impossible to acquire with sensory equipment. Therefore, a more reactive approach is chosen using a behavior-based architecture. This way a certain generalization in unknown environment is expected. The resulting behavior network is described and experiments performed in a simulation environment as well as in real world are presented. Additionally the performance of the utilized vehicle in case of mechanical or electronic defects is examined in simulation.
Starting Page	4697
Ending Page	4702
File Size	516862
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570845
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fault tolerance Motion control Navigation Wheels Mobile robots Vehicle driving Humanoid robots Legged locomotion Remotely operated vehicles Tracking motion control offroad fault-tolerant behavior-based
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Modeling and control of two-wheeled vehicles using active caster wheels

Rut Detection for Mobile Robots

Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle

A locomotion control method for autonomous vehicles

Versatile reactive navigation

Position Based Path Tracking For Wheeled Mobile Robots

Dynamics modeling and parameter identification for autonomous vehicle navigation

Location estimation and uncertainty analysis for mobile robots

Visual navigation of autonomous on-road vehicle

Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation

Similar Documents

Modeling and control of two-wheeled vehicles using active caster wheels

Rut Detection for Mobile Robots

Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle

A locomotion control method for autonomous vehicles

Versatile reactive navigation

Position Based Path Tracking For Wheeled Mobile Robots

Dynamics modeling and parameter identification for autonomous vehicle navigation

Location estimation and uncertainty analysis for mobile robots

Visual navigation of autonomous on-road vehicle

Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation