A stochastic response surface approach to statistical prediction of mobile robot mobility

Kewlani, Gaurav; Iagnemma, Karl

doi:10.1109/iros.2008.4651187

Cited by 20 publications

(11 citation statements)

References 21 publications

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“…The algorithm, detailed in [13], is similar in spirit to various statistical methods for manned vehicle mobility prediction that have been developed by the U.S. Army over the past 50 years (i.e. the NATO Reference Mobility Model (NRMM), NRMM II, and others).…”

Section: Resultsmentioning

confidence: 99%

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An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

et al. 2009

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It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles (UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing (HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE HPC research is a real-time desktop simulation application under development by the authors that provides a portal into the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia visualization techniques to form an intuitive, accurate engineering tool.The system provides an adaptable and customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations. ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf (COTS) hardware. In this paper, the authors describe key aspects of ANVEL and its development, as well as several initial applications of the system.

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Section: Resultsmentioning

confidence: 99%

“…Despite the significant computational cost of these simulations, ANVEL performed the task efficiently, allowing iterative study of algorithm performance. Further details on the algorithm development and performance can be found in [13]. In the second project, ANVEL was used as part of a proof-of-concept multi-level simulation.…”

Section: Resultsmentioning

confidence: 99%

An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

et al. 2009

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“…A four-wheeled rover with an actively articulated suspension, which can improve roughterrain mobility by repositioning its center of mass, was controlled with this approach [120]. In order to predict the mobility of a rover more accurately, a method was developed for efficient mobility prediction based on the stochastic response surface method (SRSM), which considers soil parameter uncertainty [121]. A statistical method for efficient mobility prediction was proposed.…”

Section: Dynamics Simulation Based On Terramechanics For Planetary Romentioning

confidence: 99%

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

Ding

Deng

Gao

et al. 2010

Intel Serv Robotics

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With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary rovers, terramechanics (wheel-soil interaction mechanics) is playing an important role in the development of these rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the terramechanics theory for planetary rovers, which is becoming a new research hotspot, is unique and puts forward many new challenging problems. This paper first discusses the significance of the study of wheel-soil interaction mechanics of planetary rovers and summarizes the differences between planetary rovers and terrestrial vehicles and the problems arising thereof. The application of terramechanics to the development of planetary rovers can be divided into two phases (the R&D phase and exploration phase for rovers) corresponding to the high-fidelity and simplified terramechanics models. This paper also describes the current research status by providing an introduction to classical terramechanics and the experimental, theoretical, and numerical researches on terramechanics for planetary rovers. The application status of the terramechanics for planetary rovers is analyzed from the aspects of rover design, performance evaluation, planetary soil parameter identification, dynamics simulation, mobility control, and path planning. Finally, the key issues for future research are discussed. The current planetary rovers are actually advanced wheeled mobile robots (WMRs), developed employing cutting-edge technologies from different fields. The terramechanics for planetary rovers is expected to present new challenges and applications for WMRs, making it possible to develop WMRs using the concepts of mechanics and dynamics.

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“…More recent approaches include the polynomial chaos approach (based on Wiener's theory of homogeneous chaos), and the stochastic response surface method (SRSM) [8] [9]. Previous work by the authors has also focused on stochastic performance prediction of mobile robot mobility using SRSM [10], which has been shown to be more robust than the generalized polynomial chaos (gPC) method [9].…”

Section: Introductionmentioning

confidence: 99%

A Multi-Element generalized Polynomial Chaos approach to analysis of mobile robot dynamics under uncertainty

Kewlani

Iagnemma

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The ability of mobile robots to quickly and accurately analyze their dynamics is critical to their safety and efficient operation. In field conditions, significant uncertainty is associated with terrain and/or vehicle parameter estimates, and this must be considered in an analysis of robot motion. Here a Multi-Element generalized Polynomial Chaos (MEgPC) approach is presented that explicitly considers vehicle parameter uncertainty for long term estimation of robot dynamics. It is shown to be an improvement over the generalized Askey polynomial chaos framework as well as the standard Monte Carlo scheme, and can be used for efficient, accurate prediction of robot dynamics.

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A stochastic response surface approach to statistical prediction of mobile robot mobility

Cited by 20 publications

References 21 publications

An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

A Multi-Element generalized Polynomial Chaos approach to analysis of mobile robot dynamics under uncertainty

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