Autonomous Navigation and Control of UGVs' in Nuclear Power Plants - 20381
- North Carolina A and T State University (United States)
- Savannah River National Laboratory (United States)
The purpose of the husky A200 ground robot is to autonomously navigate through the places where it is very hazardous for human beings to reach and operate, like nuclear power plants, chemical industries. The aim is to navigate the ground robot autonomously with an Arm mounted on the robot along with the different sensors as camera, and Lidar. The autonomous motion of the robot is controlled by the controller which uses path planner for trajectory generation of the robot. The mission planner uses the current position of the husky A200, given the way points of the initial and the destination it would extract a best possible route based on the current events provided using GMapping. The global reference frame is used for planning the way points. Creating the appropriate path and the actions required to follow the path are given by the motion planner. The motion planner depends on the active sensor data such as obstacles, lanes, based on the sensor data feasible path is generated. Feasibility of the path is determined by the dynamics of the husky and a series of points generated with certain velocity and acceleration profile. The controller adjusts the lateral, longitudinal and yaw motion of the husky to command the behaviors. The kinematic model is developed for kinematic motion of the husky and the dynamic model is developed for transient and steady state characteristics. The images and other type of data captured by the camera are processed through the computational framework used to build machine learning models. TensorFlow will be used for deep learning and to identify and classify different objects around the husky. (authors)
- Research Organization:
- WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
- OSTI ID:
- 23028007
- Report Number(s):
- INIS-US-21-WM-20381; TRN: US21V1844068359
- Resource Relation:
- Conference: WM2020: 46. Annual Waste Management Conference, Phoenix, AZ (United States), 8-12 Mar 2020; Other Information: Country of input: France; 15 refs.; available online at: https://www.xcdsystem.com/wmsym/2020/index.html
- Country of Publication:
- United States
- Language:
- English
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