A flexible navigation system for autonomous robots operating in heterogeneous environments

Detalhes bibliográficos
Autor(a) principal: Marques, Francisco Antero Cardoso
Data de Publicação: 2012
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/9791
Resumo: Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores
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spelling A flexible navigation system for autonomous robots operating in heterogeneous environmentsPlanningNavigationSemanticFlexibleDissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de ComputadoresThis dissertation presents a flexible navigation system for autonomous robot operating in heterogeneous environments. In the proposed system, flexibility occurs at several levels of the navigation system. At the lowest level, proper locomotion modes are selected according to the local context, which includes handling dynamic footprints when computing traversability costs. This flexibility ensures that the kinematic and morphological constraints of the robot are adequately considered when navigating in demanding environments. At the highest level, proper motion planning strategies are selected according to the global context, namely, the expected topology of the environment. This flexibility allows the robot to trade-off, in a context-aware way, accuracy of the planned motions and computational cost. As a result, the complexity of the planner matches the complexity of the environment, which is key to enable a proper management of computational and energetic resources. Following a pragmatic strategy, the robot obtains its global context from off-line generated maps, which are becoming widely available. To validate this idea, a tool for semantic labelling of satellite imagery was developed. Online, the robot obtains its global context extracting the semantic label (e.g.,urban environment) and distribution of expected obstacles associated to its current global position. The proposed system leverages on the well-known Robotics Operating System (ROS) framework for the implementation of the navigation system underpinnings. For extensive validation purposes, a physics-based 3D simulator was used. Moreover, the system was validated over 1 Km long experiments on a physical four-wheeled robot. The results obtained show the ability of the system to ensure safe navigation in heterogeneous environments. This is a result of the ability of the system to exploit context awareness to reconfigure itself when facing transitions among topologically different environment regions. The added level of robustness introduced with the proposed system is expected to foster the application of autonomous robots in socially relevant domains.Faculdade de Ciências e TecnologiaOliveira, JoséSantana, PedroRUNMarques, Francisco Antero Cardoso2013-06-05T10:04:23Z20122012-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10362/9791enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-03-11T03:43:06Zoai:run.unl.pt:10362/9791Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:19:02.329210Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv A flexible navigation system for autonomous robots operating in heterogeneous environments
title A flexible navigation system for autonomous robots operating in heterogeneous environments
spellingShingle A flexible navigation system for autonomous robots operating in heterogeneous environments
Marques, Francisco Antero Cardoso
Planning
Navigation
Semantic
Flexible
title_short A flexible navigation system for autonomous robots operating in heterogeneous environments
title_full A flexible navigation system for autonomous robots operating in heterogeneous environments
title_fullStr A flexible navigation system for autonomous robots operating in heterogeneous environments
title_full_unstemmed A flexible navigation system for autonomous robots operating in heterogeneous environments
title_sort A flexible navigation system for autonomous robots operating in heterogeneous environments
author Marques, Francisco Antero Cardoso
author_facet Marques, Francisco Antero Cardoso
author_role author
dc.contributor.none.fl_str_mv Oliveira, José
Santana, Pedro
RUN
dc.contributor.author.fl_str_mv Marques, Francisco Antero Cardoso
dc.subject.por.fl_str_mv Planning
Navigation
Semantic
Flexible
topic Planning
Navigation
Semantic
Flexible
description Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-01-01T00:00:00Z
2013-06-05T10:04:23Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/9791
url http://hdl.handle.net/10362/9791
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Faculdade de Ciências e Tecnologia
publisher.none.fl_str_mv Faculdade de Ciências e Tecnologia
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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