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- ZeitschriftenartikelKombination und Klassifikation von partiellen Objektaufsichten eines mobilen Roboters mittels Aufsichtpunktketten(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Reimer, MarkoDieser Beitrag beschreibt eine Methode zur Rekombination und Kategorisierung der 2D-Objektaufsicht eines beliebig geformten Objektes aus 3D-Entfernungsmessdaten eines mobiles Roboters. Da mobile Roboter in einer einzelnen Messung immer nur einen geringen Anteil der Objektform aus einer seitlichen Perspektive erfassen können, werden die Daten mehrerer Messungen vor der Auswertung zu einer umfassenden Objektbeschreibung zusammen gefasst. Auf diese Weise werden alle bekannten Informationen zur Kategorisierung verwendet. Die Kategorisierung selbst basiert auf lokalen Merkmalen, um sowohl geschlossene als auch offene Objektformen beschreiben zu können.
- ZeitschriftenartikelOff-road Robotics—An Overview(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten; Kuhnert, Klaus-Dieter; Armbrust, ChristopherThis article gives an overview of the current state of research in the field of off-road robotics. It focuses on techniques used in the areas of perception, environment representation, as well as navigation, and introduces different types of robot control systems. A presentation of different applications is given along with an outlook on future developments.
- ZeitschriftenartikelTowards Pathplanning for Unmanned Ground Vehicles (UGV) in 3D Plane-Maps of Unstructured Environments(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Vaskevicius, Narunas; Birk, AndreasWork in progress on efficient long range path-planning for unmanned ground vehicles (UGV) is presented. It builds upon own work on 3D mapping in unstructured environments, which uses large planar patches for representation and registration of range data. The planar patches allow a very fast assessment of drivability as indicated by experiments with several data-sets.
- ZeitschriftenartikelThemenheft Offroad-Robotik(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten; Armbrust, Christopher
- ZeitschriftenartikelOffroad Navigation Using Adaptable Motion Patterns(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Hoeller, Frank; Röhling, Timo; Schulz, DirkWe present a navigation system which is able to steer an electronically controlled ground vehicle to given destinations considering all obstacles in its vicinity. The approach is designed for vehicles without a velocity controlled drive-train, making it especially useful for typical remote-controlled vehicles. The vehicle is controlled by sets of commands, each set representing a specific maneuver. These sets are combined in a tree-building procedure to form trajectories towards the given destination. While the sets of commands are executed the vehicle’s behavior is measured to refine the prediction used for path generation. This enables the approach to adapt to surface alterations. We tested our system using a 400 kg EOD robot in an outdoor environment.
- ZeitschriftenartikelInterview with John F. Reid Concerning the Future of Service Robots in Forestry and Agricultural Applications(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Berns, Karsten
- ZeitschriftenartikelKI-Systeme zu Lande, zu Wasser und in der Luft(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Hertzberg, Joachim
- ZeitschriftenartikelIntelligent Mobility(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Joyeux, Sylvain; Schwendner, Jakob; Kirchner, Frank; Babu, Ajish; Grimminger, Felix; Machowinski, Janosch; Paranhos, Patrick; Gaudig, ChristopherRobotic systems for outdoor applications can play an important role in the future. Tasks like exploration, surveillance or search and rescue missions benefit greatly from increased autonomy of the available systems. Outdoor environments and their high complexity pose a special challenge for existing autonomous behaviour technologies in robots. Some of these challenges in the area of navigation, plan management and sensor integration are investigated in the Intelligent Mobility (iMoby) project at the DFKI. An introduction to the project goals and the current achievements is given. Further, an outlook towards the end of the project and beyond is provided.
- ZeitschriftenartikelNews(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011)
- ZeitschriftenartikelSensor-Fusion Based Real-Time 3D Outdoor Scene Reconstruction and Analysis on a Moving Mobile Outdoor Robot(KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Kuhnert, Lars; Kuhnert, Klaus-DieterThis article presents an overview over the whole process of generating a precise and rich 3D representation of the local environment of a moving mobile outdoor robot. The resulting model of this process is a camera image textured triangle mesh which is triangulated from a motion-corrected laser scanned 3D point cloud. The demanding requirements of autonomous off-road environment model acquisition are handled by applying a multi-sensor fusion approach. Additionally to the model creation process a novel way of detecting and describing feature points on a piece-wise linear 3D surfaces is presented. The set of feature points generated by the proposed method is a valuable abstraction of a whole outdoor scene that can be used in several following processing steps like mesh simplification or segmentation and robotics-specific tasks like obstacle detection or classification. All described methods are implemented and successfully used on the award-winning robot AMOR.