Phoenix Mobile Experimental Platform

Research Group Robotics & Process Control

Finished:

Vehicle Infrastructure

• chassis development / mechanical construction
• power electronics integration
• interface development

Communication

• domain communication system for realtime-critical data
• domain communication system for client/server mission data
• domain information system for configuration data

Sensors:

• pan/tilt-unit
  • mechanical construction
  • microcontroller hardware development
  • microcontroller software
  • PC driver software (QNX)
• sonar/IR sensors
  • sensor integration
  • microcontroller hardware development
  • microcontroller software
  • PC driver software (QNX)
• interface electronics bumper/PC
• PC driver software for Sick laserscanner PLS/LMS200 (QNX)
• framegrabber driver software
• visualization
• sensor fusion (active ranging systems)

Robot Control

• high- and low-level motorcontroller drivers (QNX)
• pilot component
  • track planning
  • fuzzy track control
  • reactive collision avoidance
• path planning

World-Model & Self-Localization

• hybrid topological/metric map building
• global laser scan matching
• visual detection and interpretation of barcode labels
• neural scene classification of environment video images
• neural scene classification of laserscans
• global probabilistic self-localization

Current Projects:

• development and evaluation of different self-localization techniques based on topological maps
• conception of high-level-planers