A Robot Architecture for Outdoor Competitions

Autonomous navigation in unstructured environments is a common topic of research, being motivated by robotic competitions and involving several sets of skills. We present a modular architecture to integrate different components for path planning and navigation of an autonomous mobile robot. This arc...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2020-09, Vol.99 (3-4), p.629-646
Main Authors: de Oliveira, Rodrigo W. S. M., Bauchspiess, Ricardo, Porto, Letícia H. S., de Brito, Camila G., Figueredo, Luis F. C., Borges, Geovany A., Ramos, Guilherme N.
Format: Article
Language:English
Subjects:
Architecture
Artificial Intelligence
Autonomous navigation
Autonomy
Computer simulation
Control
Controllers
Electrical Engineering
Engineering
Extended Kalman filter
Formability
Global positioning systems
GPS
Inertial platforms
Mechanical Engineering
Mechatronics
Model reference adaptive control
Path planning
Robotics
Robots
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Summary:Autonomous navigation in unstructured environments is a common topic of research, being motivated by robotic competitions and involving several sets of skills. We present a modular architecture to integrate different components for path planning and navigation of an autonomous mobile robot. This architecture was developed in order to participate in the RoboMagellan competition hosted by RoboGames. It is divided in the organizational, functional and executive levels in order to secure that the developed system has programmability, autonomy, adaptability and extensibility. Global and local localization strategies use unscented and extended Kalman filters (UKF and EKF) to fuse data from a Global Positioning System (GPS) receiver, inertial measurement unit (IMU), odometry and camera. Movement is controlled by a model reference adaptive controller (MRAC) and a proportional controller. To avoid obstacles a deformable virtual zone (DVZ) approach is used. The architecture was tested in simulated environments and with a real robot, providing a very flexible approach to testing different configurations.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-019-01140-9