Precise execution of the DRC wall task resulted from precise calculation of the best path and precise manipulation of the end effector.
As the vehicle approaches the obstacles (inside yellow circle), the motion planner adjusts its trajectory (the bright green line) to swerve around them.
Andy the ARM-S robot uses forward simulation to plan the best way to pick up a Pelican case.
The robot evaluates different arm movements and chooses the one that efficiently avoids
obstacles and approaches the case from the best grasping angle.
||Motion Planning & Execution
Our motion planners decide how to move the robot through the workspace or terrain as safely and efficiently as possible. They work from maps, overhead imagery, and three-dimensional models of the area to find the best path to the robots’ goal. Our feature detection software allows motion planners to find and avoid terrain hazards, stationary obstacles, moving obstacles, and people. Of particular challenge are situations in which competing constraints and objectives force a robot to consider many options before moving.
Our robots navigate crowded museum lobbies, steep volcanic slopes, city streets, farm fields, and orchards. They can handle a wide variety of off-road terrain, including new and old growth forests, rolling grasslands, desert scrub, swamps, badlands, and alpine slopes.
As a mobile robot moves, it needs to measure its relative and absolute position. We have extensive experience in applying GPS and inertial positioning systems. We also developed techniques for estimating position in areas with limited or no GPS availability.
retrofits and control
technologies (GPS, inertial)
• GPS-free positioning
• Short- & long-term path planning
detection and avoidance
Projects featuring Motion Planning & Execution:
• Autonomous Manipulation (ARM-S)
• Tartan Rescue Team
• Cargo UGV
• Laser Coating Removal for Aircraft
• Specialty Crop Automation
• Path Planning for Autonomous Vessel