| Issue |
MATEC Web Conf.
Volume 388, 2023
2023 RAPDASA-RobMech-PRASA-AMI Conference Advanced Manufacturing Beyond Borders - The 24th Annual International RAPDASA Conference joined by RobMech, PRASA and AMI, hosted by CSIR and CUT
|
|
|---|---|---|
| Article Number | 04016 | |
| Number of page(s) | 12 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202338804016 | |
| Published online | 15 December 2023 | |
Voyager, a ground mobile robotic platform for research development
Centre for Robotics and Future Production, CSIR, Pretoria, South Africa
* Corresponding author: kpurdon@csir.co.za
This paper describes a mobile ground-based robotic platform named Voyager which was developed to support robotics research and replace the old mobile robotic platform, the Pioneer. A comparative analysis was done with three mobile robot: platforms Pioneer 3-DX, Clearpath Robotics Jackal, and SuperDroid Robots VIPR to determine the requirements for Voyager's development. The Voyager is currently equipped with a 3D LiDAR scanner, inertial measurement unit, and camera to allow for the onboard software to perform obstacle avoidance as well as avoid non-traversable terrain when driving outdoors. This universal platform has been used for developing new algorithms for path planning, obstacle avoidance, localisation, and mapping.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.