Abstract:
The development of the SnowEater robot navigation system using a simple camera and marker is presented in this paper. The SnowEater is a crawler robot developed to accomp...Show MoreMetadata
Abstract:
The development of the SnowEater robot navigation system using a simple camera and marker is presented in this paper. The SnowEater is a crawler robot developed to accomplish the snow removal task within an autonomous operation with low power consumption. Current snow blower and snow plow machines consume a lot of power and are made to complete the operation under the constant surveillance of the user. While using these machines due to the high power, the user is responsible for the possible injuries caused if the task is not completed with carefulness. The SnowEater robot is focused in finding new ways of processing snow within an autonomous system grating a safer operation all the time. This paper describes the development of a navigation system for the SnowEater robot using a camera as a sensor. In this sense, the developed system uses ARToolkit's technology for localization and tracking within a hybrid switching operation. The proposed switching operation is composed by 2 routines using the data obtained from ARToolkit. Each routine is switched using the relative distance between the camera and the marker. The camera is fixed to the robot looking on its forward direction. The trajectory tracking follows straight lines sequences. These sequences have a node point in common, the node point makes the sequences to have a radial arrange; with a radial arrange any convex area can be covered. The tracked trajectories are independent to the terrain but dependant to the marker position. The straight lines trajectories are established by constrains of the robot's hardware and motion. This system was applied in a miniature robot which shares the same nonholonomic motion characteristics of the SnowEater robot. First, the robot theoretical model for the nonholonomic motion is shown. Then, the two controllers' details are expressed. Finally, the full switching hybrid system execution is presented.
Date of Conference: 16-18 December 2012
Date Added to IEEE Xplore: 04 February 2013
ISBN Information: