• Login
    View Item 
    •   Home
    • UA Faculty Research
    • UA Faculty Publications
    • View Item
    •   Home
    • UA Faculty Research
    • UA Faculty Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of UA Campus RepositoryCommunitiesTitleAuthorsIssue DateSubmit DateSubjectsPublisherJournalThis CollectionTitleAuthorsIssue DateSubmit DateSubjectsPublisherJournal

    My Account

    LoginRegister

    About

    AboutUA Faculty PublicationsUA DissertationsUA Master's ThesesUA Honors ThesesUA PressUA YearbooksUA CatalogsUA Libraries

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    An Adaptive Hierarchical Approach to Lidar-based Autonomous Robotic Navigation

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    Name:
    106391X.pdf
    Size:
    4.371Mb
    Format:
    PDF
    Description:
    Final Published version
    Download
    Author
    Brooks, Alexander J. -W.
    Fink, Wolfgang
    Tarbell, Mark A.
    Affiliation
    Univ Arizona, Coll Engn, Visual & Autonomous Explorat Syst Res Lab
    Issue Date
    2018
    Keywords
    Autonomous (CISR)-I-4 systems
    multi-tiered robotic exploration architectures
    navigational behavior motifs
    2D Lidar data
    velocity control
    obstacle avoidance
    deepest path navigation
    ratio constraint
    
    Metadata
    Show full item record
    Publisher
    SPIE-INT SOC OPTICAL ENGINEERING
    Citation
    Alexander J.-W. Brooks, Wolfgang Fink, Mark A. Tarbell, "An adaptive hierarchical approach to lidar-based autonomous robotic navigation", Proc. SPIE 10639, Micro- and Nanotechnology Sensors, Systems, and Applications X, 106391X (8 May 2018); doi: 10.1117/12.2303770; https://doi.org/10.1117/12.2303770
    Journal
    MICRO- AND NANOTECHNOLOGY SENSORS, SYSTEMS, AND APPLICATIONS X
    Rights
    © 2018 SPIE.
    Collection Information
    This item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at repository@u.library.arizona.edu.
    Abstract
    Planetary missions are typically confined to navigationally safe environments, leaving areas of interest in rugged and/or hazardous terrain largely unexplored. Identifying and avoiding possible hazards requires dedicated path planning and limits the effectiveness of (semi-)autonomous systems. An adaptable, fully autonomous design is ideal for investigating more dangerous routes, increasing robotic exploratory capabilities, and improving overall mission efficiency from a science return perspective. We introduce hierarchical Lidar-based behavior motifs encompassing actions, such as velocity control, obstacle avoidance, deepest path navigation/exploration, and ratio constraint, etc., which can be combined and prioritized to foul' more complex behaviors, such as free roaming, object tracking, etc., as a robust framework for designing autonomous exploratory systems. Moreover, we introduce a dynamic Lidar environment visualization tool. Developing foundational behaviors as fundamental motifs (1) clarifies response priority in complex situations, and (2) streamlines the creation of new behavioral models by building a highly generalizable core for basic navigational autonomy. Implementation details for creating new prototypes of complex behavior patterns on top of behavior motifs are shown as a proof of concept for earthly applications. This paper emphasizes the need for autonomous navigation capabilities in the context of space exploration as well as the exploration of other extreme or hazardous environments, and demonstrates the benefits of constructing more complex behaviors from reusable standalone motifs. It also discusses the integration of behavioral motifs into multi-tiered mission architectures, such as Tier-Scalable Reconnaissance.
    ISSN
    0277-786X
    1996-756X
    DOI
    10.1117/12.2303770
    Version
    Final published version
    Sponsors
    Edward & Maria Keonjian Endowment at the University of Arizona; NASA via Arizona Space Grant Consortium (AZSGC) [NNX15AJ17H]
    Additional Links
    https://www.spiedigitallibrary.org/conference-proceedings-of-spie/10639/106391X/An-adaptive-hierarchical-approach-to-lidar-based-autonomous-robotic-navigation/10.1117/12.2303770.full?SSO=1
    ae974a485f413a2113503eed53cd6c53
    10.1117/12.2303770
    Scopus Count
    Collections
    UA Faculty Publications

    entitlement

     
    The University of Arizona Libraries | 1510 E. University Blvd. | Tucson, AZ 85721-0055
    Tel 520-621-6442 | repository@u.library.arizona.edu
    DSpace software copyright © 2002-2017  DuraSpace
    Quick Guide | Contact Us | Send Feedback
    Open Repository is a service operated by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.