Multiple MAGIC Robots Developed by US-Asian Team
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Uploaded by maklinchi on Jan 3, 2011
This video shows multiple Unmanned Ground Vehicles (UGVs) and their autonomous navigation techniques developed by US-Asian Team that can safely expedite reconnaissance in cluttered urban environments, such as those in MAGIC2010 competition. The developed multi-UGV system consists of four high-performance UGVs with efficient and intelligent autonomous navigation capabilities and is able to detect, locate, classify, recognize and track suspicious target and then neutralize any confirmed threats while mapping the entire indoor and outdoor environments efficiently. Owing to the development and implementation of the hybrid feature-based/scan-matching Simultaneous Localization and Mapping (SLAM) technique, the developed multi-UGV system is able to localize target and build a map within a resolution of 25 cm. The implementation of the hybrid SLAM and the Occupancy Grid Mapping (OGM) on the Graphic Processing Unit (GPU) after formulating them within a single recursive Bayesian estimation framework further enables the autonomous navigation at a speed of at least 8 km/h. Experiments of mapping in two buildings and one outdoor area have shown the efficacy of the developed multi-UGV system.
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