This paper summarizes the progress in developing a rugged, low-cost, automated ground cone robot network capable of traffic delineation at lane-level precision. A holonomic omnidirectional base with a traffic delineator was developed to allow flexibility in initialization. RTK GPS was utilized to reduce minimum position error to 2 centimeters. Due to recent developments, the cost of the platform is now less than $1,600. To minimize the effects of GPS-denied environments, wheel encoders and an Extended Kalman Filter were implemented to maintain lane-level accuracy during operation and a maximum error of 1.97 meters through 50 meters with little to no GPS signal. Future work includes increasing the operational speed of the platforms, incorporating lanelet information for path planning, and cross-platform estimation.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    AutoCone: An OmniDirectional Robot for Lane-Level Cone Placement


    Beteiligte:


    Erscheinungsdatum :

    19.10.2020


    Format / Umfang :

    2143977 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    AUTOCONE: AN OMNIDIRECTIONAL ROBOT FOR LANE-LEVEL CONE PLACEMENT

    Hartzer, Jacob / Saripalli, Srikanth | British Library Conference Proceedings | 2020


    Liftable omnidirectional robot

    ZHAN LILI | Europäisches Patentamt | 2020

    Freier Zugriff

    Omnidirectional connection robot

    YAO HAIJIN / LYU JUAN | Europäisches Patentamt | 2023

    Freier Zugriff

    OMNIDIRECTIONAL UNDERWATER ROBOT

    YU GUOYAN / CHEN ZEJIA / LI ZHUOHENG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Omnidirectional movement robot

    QIN JIALIN / MOU JUNXIN / ZHAO YONGJIN et al. | Europäisches Patentamt | 2021

    Freier Zugriff