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Surveillance Robot [ January 2011 ~ December 2011 ]

Platform and Sensor Configuration
Jaguar
• Length: 0.65m, Height: 0.2m, Width: 0.66m
• 2 tracks for driving and steering, 2 flipper arms (stair climbing is available)
• Max speed : 1.5m/s, slope mobility : 45°, max payload : 15kg

Fig. 1 Platform and sensor configuration
Research Contents
GPS-based outdoor localization
• Extended Kalman filter (EKF)-based sensor fusion
• Odometry and roll, pitch yaw from IMU : used for prediction process of EKF
• GPS : used for update process of EKF

Fig. 2 EKF-based outdoor localization by using wheel odometry and GPS information

Gradient method-based outdoor global path planning
• Optimal path generation using map information from initial position of robot to goal
• Extended 2D gradient method
• Local minimum problem can be avoided
• Traversability map is used

Fig. 3 Global path extraction by gradient method

Implementation of a manipulator on tracked robot
• Mobile tracked robot + 4DOF manipulator based on stabilization control
• Efficient unmanned surveillance
• Absorbing vibration at rugged terrain while driving

Mov. 1 Manipulator with stabilization control

Autonomous navigation
• Environment : indoor and outdoor
• Localization, path planning and motion control algorithms are integrated

Mov. 2 Autonomous navigation of tracked robot

Related Patent
• Jae-Bok Song, Yong-Hoon Ji, Jae-Kwan Ryu, Jong-Won Kim, and Joo-Hyun Baek, “ Apparatus for estimating location of moving object for autonomous driving,” Korean Intellectual Property Office (KIPO), #10-2012-0025468.
• Jae-Bok Song, Yong-Hoon Ji, Jae-Kwan Ryu, Jong-Won Kim, and Joo-Hyun Baek, “Method for estimating location of mobile robot,” Korean Intellectual Property Office (KIPO), #10-2012-0025469.