Objective
Free space and obstacle mapping with a laser ranger finder
The proposal deals with the perception of a working environment for navigation purposes. It is a clear add-on to the semi-autonomous navigation system (called ANB = Assistant Navigation Block) integrated on the test vehicule of project IMPACT. A laser ranger finder (scanning at high speed the environment in a spiral way) will be used for that. The objectives are :
- to evaluate the performances of such a sensor in an industrial environment, typically a nuclear power plant. Data acquisition and experiments will be, among others, set up in a relevant nuclear environment in France and in a industrial robotic site in Poland. - to define the capabilities of such a sensor for navigation purposes, i.e. as a sensor providing data used to create a map of the free space and obstacles.
- to implement a free space mapping software, which provides ANB with 2D data to be fused in a 2D map, based on occupancy grids with bayesian fusion of successive data.
- to study the possibility and methods to create a 3D terrain map of free space and obstacles.
- to validate the developed software in a relevant environment. The development of a reliable sensory system for autonomous navigation is a key point for nuclear industry as well as for many non-nuclear applications like :
- maintenance of equipments
- surveillance of sites
- intervention in hazardous environments
- indoor and outdoor handling (documents, parts, people, tools) Two industrial applications will benefit directly from this study : - improved flexibility/efficiency of automated production lines using fixed industrial robots,
- improved surveillance/security of nuclear, chemical and petrochemical installations using a mobile inspection robot.
Call for proposal
Data not availableFunding Scheme
CSC - Cost-sharing contractsCoordinator
78401 Chatou
France