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NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.   Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas. 
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DR 6.3.4: User interaction and trajectory planning in unstructured environment based on 3D perceptual data: principle and evaluation

One main objective of NIFTi is to explore a disaster area using the NIFTi UGV. This robot hardware has been designed to fulfill this task but autonomous navigation in unstructured environments is still an open research topic. In this report, we present several attempts at trajectory planning and autonomous navigation. First, using only the omnicamera, it is possible to do visual navigation based on visual homing. Then, continuing the work presented in DR6.2.3, we present a complete trajectory planning and execution framework applied on the NIFTi UGV. Finally, we discuss another approach dedicated to stair climbing.

m36-DR6.3.4-PUBLIC.pdf — PDF document, 14912Kb

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