Perception and Navigation in Unknown Environments: The DARPA Robotics Challenge

Molinos, Eduardo; Llamazares, Ángel; Hernández, Noelia; Arroyo, Roberto; Cela, Andrés; Yebes, José Javier; Ocaña, Manuel; Bergasa, Luis M.

Year: 2013

Type of Publication: In Proceedings

Editor: Manuel A. Armada and Alberto Sanfeliu and Manuel Ferre

Volume: 253

Book title: ROBOT2013: First Iberian Robotics Conference

Series: Advances in Intelligent Systems and Computing

Pages: 321-329

Month: November

ISBN: 978-3-319-03652-6

DOI: 10.1007/978-3-319-03653-3_24

Abstract:

This paper presents different techniques to achieve the tasks proposed in the DARPA (Defense Advanced Research Projects Agency) VRC (Virtual Robotics Challenge), which entails the recognition of objects, the robot localization and the mapping of the simulated environments in the Challenge. Data acquisition relies on several sensors such as a stereo camera, a 2D laser, an IMU (Inertial Motion Unit) and stress sensors. Using the map and the position of the robot inside it, we propose a safe path planning to navigate through the environment using an Atlas humanoid robot.