RAVON

For other uses, see Ravon (disambiguation).
Robust Autonomous Vehicle for Off-road Navigation
TypeAutonomous vehicle
PurposeOff-road navigation

RAVON (Robust Autonomous Vehicle for Off-road Navigation) is a robot being developed at the Robotics Research Lab at University of Kaiserslautern, Germany.[1] The vehicle is used, as a testbed to investigate behaviour-based strategies on motion adaptation, localization and navigation in rough outdoor terrain. The basis vehicle was produced by Robosoft.[citation needed]

Description

The vehicle uses a 3D laser scanner.[2]

The vehicle is an example of using behavior-based components on two layers of a multi-layer control system.[3][verification needed] It also uses a form of short-term memory to prevent collisions with obstacles that it observed some time ago.[4]

The vehicle was experimentally tested at the 2nd Military European Land Robot Trial 2008.[5]

Technical specifications

  • Length: 2.35 m
  • Width: 1.4 m
  • Height: 1.2 m
  • Weight: 750 kg
  • Computer: 4 On-board PCs
  • Power Supply: 8 spiral cell batteries (12 V, 55 Ah each)
  • Operation Time: about 4 hours
  • Drive: 4WD with four independent electric motors
  • Steering: front and rear wheel steering via linear motors
  • Velocity: 10 km/h max.
  • Controller: 2 Motorola 56F803 DSPs
  • Computer: 4 On-board PCs
  • Floor Clearance: 0.3 m
  • Max. Slope: 100% (at 7 km/h)[1]

References

  1. ^ a b "RAVON". agrosy.informatik.uni-kl.de. Retrieved 2021-06-18.
  2. ^ Schäfer, H.; Hach, A.; Proetzsch, M.; Berns, K. (2008). "3D obstacle detection and avoidance in vegetated off-road terrain" (PDF). 2008 IEEE International Conference on Robotics and Automation. pp. 923–928. doi:10.1109/ROBOT.2008.4543323. ISBN 978-1-4244-1646-2. S2CID 7543157.
  3. ^ Berns, Karsten; Kuhnert, Klaus-Dieter; Armbrust, Christopher (2011-05-01). "Off-road Robotics—An Overview". KI - Künstliche Intelligenz. 25 (2): 109–116. doi:10.1007/s13218-011-0100-4. ISSN 1610-1987. S2CID 34594959.
  4. ^ Schäfer, B.; Proetzsch, M.; Berns, K. (2007). "Obstacle detection in mobile outdoor robots - A Short-term Memory for the Mobile Outdoor Platform RAVON". Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics (PDF). pp. 141–148. doi:10.5220/0001630701410148. ISBN 978-972-8865-82-5.
  5. ^ Braun, T.; Schaefer, H.; Berns, K. (2009). "Topological large-scale off-road navigation and exploration RAVON at the European Land Robot Trial 2008" (PDF). 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 4387–4392. doi:10.1109/IROS.2009.5353985. ISBN 978-1-4244-3803-7. S2CID 2625076.

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