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COBRA
Cobra is a modified Pioneer P3AT equipped with a Hokuyo laser, a GPS and a camera mounted on a special support.
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Cobra is used to perform experiments on autonomous navigation in both indoor and outdoor environments.
It has a hybrid deliberative/reactive architecture.
The reactive part is implemented by multiple behaviours fusion.
The planner/supervisor is able to modify behaviours weights depending on the actual contest (road, crossroad, room), and to perform waypoint navigation with obstacle avoidance.
Outdoor localization is achieved updating wheel and gyro odometry with gps and compass by means of an EKF.
Robot vision is used to detect street borders while navigating outdoor, both in structured roads (marked lanes) and unstructured roads (offroads).
Algorithm used is a mofidied version of SCARF (Crisman, Thorpe 1993).
Camera signal can also be sent over wireless connection if using the robot for surveillance or in tele-operation. |
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