About: Autonomous flipper control for a tracked robot using 2D vertical laser scan

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	ftp://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Sedlacek-TR-2012-11.pdf
Description	This work describes a Robot Operating System (ROS) module for automatic flipper adaptation during obstacle traversal with the tracked NIFTi robot. This module is intended to relieve the robot operator from the difficult task of remotely controlling all four flippers by adjusting the flippers automatically. The operator may decide to switch on the automatic mode part of the time for example during a staircase traversal. The algorithm does not model the terrain explicitly. It measures the terrain profile by a vertically positioned 2D laser scanner mounted on the front of the robot. The main goal is to achieve the flippers touch the ground in order to maintain robot's stability. The proposed algorithm has been successfully tested on traversing staircases, curbs, rails and various other obstacles of different shapes. This work describes a Robot Operating System (ROS) module for automatic flipper adaptation during obstacle traversal with the tracked NIFTi robot. This module is intended to relieve the robot operator from the difficult task of remotely controlling all four flippers by adjusting the flippers automatically. The operator may decide to switch on the automatic mode part of the time for example during a staircase traversal. The algorithm does not model the terrain explicitly. It measures the terrain profile by a vertically positioned 2D laser scanner mounted on the front of the robot. The main goal is to achieve the flippers touch the ground in order to maintain robot's stability. The proposed algorithm has been successfully tested on traversing staircases, curbs, rails and various other obstacles of different shapes. (en)
Title	Autonomous flipper control for a tracked robot using 2D vertical laser scan Autonomous flipper control for a tracked robot using 2D vertical laser scan (en)
skos:prefLabel	Autonomous flipper control for a tracked robot using 2D vertical laser scan Autonomous flipper control for a tracked robot using 2D vertical laser scan (en)
skos:notation	RIV/68407700:21230/12:00211791!RIV14-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(7E10044), P(GAP103/10/1585)
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Svoboda, Tomáš Sedláček, Filip
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	124261
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/12:00211791
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	mobile robot; flipper control; laser scanning (en)
http://linked.open.../riv/klicoveSlovo	laser scanning mobile robot flipper control
http://linked.open...ontrolniKodProRIV	[2569B41338FE]
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Advanced predictors for object detection and tracking in video Natural human-robot cooperation in dynamic environments
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Svoboda, Tomáš Sedláček, Filip
http://localhost/t...ganizacniJednotka	21230

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