This paper presents the design of the Cognitive Automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of far field objects, so a multi focal active vision with gaze control is essential. For increased robustness lidar range sensors are combined with vision using an object fusion approach. An elaborate safety concept and a verification stage ensure a safe behavior of the vehicle in all situations. A communication system enables the vehicle to perform cooperative perception and action together with similar intelligent vehicles. platform Active camera Vehicle actuators and sensors
This report gives an overview of the autonomous navigation approach developed for the ground robot MuCAR-3, partly as a satellite project in the CoTeSys cluster of excellence. Safe robot navigation in general demands that the navigation approach can also cope with situations where GPS data is noisy or even absent and hence great care must be taken when using global map information. Choosing a safe action should be tightly coupled to the perception of the immediate surrounding in such situations. The tentacles approach developed earlier in the project efficiently deals with these issues by introducing integral structures for sensing and motion. This report presents the extensions and improvements made to the tentacles approach during the progress of the project and the results obtained at various challenging robot competitions.
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