Modeling and traversal of pliable materials for tracked robot navigation

Camilo Ordonez; Ryan Alicea; Brandon Rothrock; Kyle Ladyko; Mario Harper; Sisir  Karumanchi; Larry Matthies; Emmanuel Collins

doi:10.1117/12.2304431

3 May 2018 Modeling and traversal of pliable materials for tracked robot navigation

Camilo Ordonez; Ryan Alicea; Brandon Rothrock; Kyle Ladyko; Mario Harper; Sisir Karumanchi; Larry Matthies; Emmanuel Collins

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Proceedings Volume 10640, Unmanned Systems Technology XX; 106400F (2018) https://doi.org/10.1117/12.2304431
Event: SPIE Defense + Security, 2018, Orlando, Florida, United States

Abstract

In order to fully exploit robot motion capabilities in complex environments, robots need to reason about obstacles in a non-binary fashion. In this paper, we focus on the modeling and characterization of pliable materials such as tall vegetation. These materials are of interest because they are pervasive in the real world, requiring the robotic vehicle to determine when to traverse or avoid them. This paper develops and experimentally verifies a template model for vegetation stems. In addition, it presents a methodology to generate predictions of the associated energetic cost incurred by a tracked mobile robot when traversing a vegetation patch of variable density.

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Camilo Ordonez, Camilo Ordonez, Ryan Alicea, Ryan Alicea, Brandon Rothrock, Brandon Rothrock, Kyle Ladyko, Kyle Ladyko, Mario Harper, Mario Harper, Sisir Karumanchi, Sisir Karumanchi, Larry Matthies, Larry Matthies, Emmanuel Collins, Emmanuel Collins, } "Modeling and traversal of pliable materials for tracked robot navigation", Proc. SPIE 10640, Unmanned Systems Technology XX, 106400F (3 May 2018); doi: 10.1117/12.2304431; https://doi.org/10.1117/12.2304431

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