The Need for High-Fidelity Robotics Sensor Models
Joint Authors
Priddy, Jody D.
McKinley, Burney
Goodin, Christopher
Durst, Phillip J.
Cummins, Christopher L.
Gates, Burhman Q.
Rander, Peter
Browning, Brett
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-11-17
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
Simulations provide a safe, controlled setting for testing and are therefore ideal for rapidly developing and testing autonomous mobile robot behaviors.
However, algorithms for mobile robots are notorious for transitioning poorly from simulations to fielded platforms.
The difficulty can in part be attributed to the use of simplistic sensor models that do not recreate important phenomena that affect autonomous navigation.
The differences between the output of simple sensor models and true sensors are highlighted using results from a field test exercise with the National Robotics Engineering Center's Crusher vehicle.
The Crusher was manually driven through an area consisting of a mix of small vegetation, rocks, and hay bales.
LIDAR sensor data was collected along the path traveled and used to construct a model of the area.
LIDAR data were simulated using a simple point-intersection model for a second, independent path.
Cost maps were generated by the Crusher autonomy system using both the real-world and simulated sensor data.
The comparison of these cost maps shows consistencies on most solid, large geometry surfaces such as the ground, but discrepancies around vegetation indicate that higher fidelity models are required to truly capture the complex interactions of the sensors with complex objects.
American Psychological Association (APA)
Durst, Phillip J.& Goodin, Christopher& Gates, Burhman Q.& Cummins, Christopher L.& McKinley, Burney& Priddy, Jody D.…[et al.]. 2011. The Need for High-Fidelity Robotics Sensor Models. Journal of Robotics،Vol. 2011, no. 2011, pp.1-6.
https://search.emarefa.net/detail/BIM-489928
Modern Language Association (MLA)
Durst, Phillip J.…[et al.]. The Need for High-Fidelity Robotics Sensor Models. Journal of Robotics No. 2011 (2011), pp.1-6.
https://search.emarefa.net/detail/BIM-489928
American Medical Association (AMA)
Durst, Phillip J.& Goodin, Christopher& Gates, Burhman Q.& Cummins, Christopher L.& McKinley, Burney& Priddy, Jody D.…[et al.]. The Need for High-Fidelity Robotics Sensor Models. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-6.
https://search.emarefa.net/detail/BIM-489928
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-489928