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• W2000346242 abstract "In this paper we propose a framework for trajectory planning and control of tracked vehicles for rescue environments, based on Augmented Reality (AR). The framework provides the human operator with an AR-based interface that facilitates both 3D path planning and obstacle negotiation. The interface converts the 3D movements of a marker pen, handheld by the operator, into trajectories feasible for the tracked vehicle. The framework implements a trajectory tracking controller to allow the tracked vehicle to autonomously follow the trajectories, decided by the operator. This controller relies on a localization system which provides, at real-time, position feedback. The localization system exploits the performance of a Dead Reckoning System together with the accuracy of an ICP-based SLAM in pose estimation, to determine the pose of the tracked vehicle within the 3D map. We demonstrate the application of the planning framework in autonomous robot navigation for evaluating the robot capabilities in rescue environments. Our experiments show the effectiveness of the trajectory tracking control method." @default.
• W2000346242 created "2016-06-24" @default.
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• W2000346242 date "2013-10-01" @default.
• W2000346242 modified "2023-10-06" @default.
• W2000346242 title "An Augmented Reality approach for trajectory planning and control of tracked vehicles in rescue environments" @default.
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• W2000346242 doi "https://doi.org/10.1109/ssrr.2013.6719360" @default.
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