Paper Info
Title
Perception and control strategies for driving utility vehicles with a humanoid robot
Abstract
This paper describes the hardware and software components of a general-purpose humanoid robot system for autonomously driving several different types of utility vehicles. The robot recognizes which vehicle it is in, localizes itself with respect to the dashboard, and self-aligns in order to interface with the steering wheel and accelerator pedal. Low- and higher-level methods are presented for speed control, environment perception, and trajectory planning and following suitable for operation in planar areas with discrete obstacles as well as along road-like paths.
Year
DOI
Venue
2014
10.1109/IROS.2014.6942677
Intelligent Robots and Systems
Keywords
DocType
ISSN
collision avoidance,humanoid robots,road vehicles,steering systems,trajectory control,velocity control,accelerator pedal,autonomous utility vehicle driving,control strategies,general-purpose humanoid robot system,hardware components,higher-level methods,low-level methods,road-like paths,software components,steering wheel,trajectory planning
Conference
2153-0858
Citations 
PageRank 
References 
2
0.37
16
Authors
4
Name
Order
Citations
PageRank
Christopher Rasmussen157662.94
Kiwon Sohn2244.63
Qiaosong Wang3505.98
Paul Y. Oh428951.08