Robotics Research Lab

Marvin

Mobile Autonomous Robotic Vehicle for Indoor Navigation

Description

While transport systems available on market are mainly based on planned or fixed routes, Marvin can react on dynamic changes of its surrounding through course changes, without user interaction or danger of collision exists. More important is its capability to autonomously explore unknown structured environments for map building. The extracted topological map serves as a base for transport tasks and facilitates an intuitive user interface (e.g. to target the destination positions). Due to the flexible structure of hardware and software future extensions can be easily integrated. For instance, in the smart factory scenario the robot could support service, maintenance and security personal through actual location-dependent information.

In order to meet these requirements in the future, new methods and techniques are developed at the Robotics Research Lab concerning obstacle avoidance, autonomous exploration of indoor environments (environmental modeling and mapping, finding objects of potential interest) as well as intuitive user control mechanisms. All these approaches are implemented and extensively tested on the robot Marvin.

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Technical Data

Length72 cm
Width72 cm
Height120 cm
Weightca. 80 kg
Payloadca. 100 kg
Power Supply2 lead batteries, 12V each
Operation Time3 hours
DriveDifferential drive with 2 electric motors
Max. Speed4.3 km/h
Controller2 Maxon motor controllers, activated by a DSP-board
Computer1 onboard PC
Sensors2 SICK-laser scanners, ultrasonic belt, 2 microphones, camera on pan-tilt-unit

Publications

Sort by: Author, Year, Title

  • Exploration Strategies for Indoor Environments.
    Jens Wettach
    RRLab Dissertations, (2017)
    http://www.dr.hut-verlag.de/978-3-8439-3035-2.html ISBN-13: 978-3-8439-3035-2
  • Experimental Evaluation of Some Indoor Exploration Strategies.
    Jens Wettach and Karsten Berns
    13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 280 - 287. (2016)
  • Vertical Integration and Adaptive Services in Networked Production Environments.
    Dennis Christmann, Andreas Schmidt, Christian Giehl, Max Reichardt, Moritz Ohmer, Markus Berg, Karsten Berns, Reinhard Gotzhein and Thorsten Herfet
    Proceedings of the ERP Future 2015, (2015)
  • Combining Dynamic Frontier Based and Ground Plan Based Exploration. a Hybrid Approach.
    Jens Wettach and Karsten Berns
    Proceedings of the Joint 45th International Symposium on Robotics (ISR) and the 8th German Conference on Robotics (ROBOTIK), S. 1 - 8. (2014)
  • Ground Plan Based Exploration with a Mobile Indoor Robot.
    Jens Wettach and Karsten Berns
    Proceedings of the 7th German Conference on Robotics (ROBOTIK), S. 452 - 457. (2012)
  • Dynamic Frontier Based Exploration with a Mobile Indoor Robot.
    Jens Wettach and Karsten Berns
    Proceedings of the Joint 41st International Symposium on Robotics (ISR) and the 6th German Conference on Robotics (ROBOTIK), S. 28 - 35. (2010)
  • Building Reliable 2D Maps from 3D Features.
    Jens Wettach and Karsten Berns
    Proceedings of the 5th German Conference on Robotics (ROBOTIK), Vol. 2012, S. 325 - 328. (2008)
  • Building Reliable 2D Maps from 3D Features (long version).
    J Wettach and K Berns
    Proceedings of Robotik 2008, Vol. 2012, (2008)
  • 3D Reconstruction for Exploration of Indoor Environments.
    Jens Wettach and Karsten Berns
    20. Fachgespräch Autonome Mobile Systeme (AMS2007), Nr. 1, S. 57 - 63. (2007)
  • A Customizable, Multi-Host Simulation and Visualization Framework for Robot Applications.
    Tim Braun, Jens Wettach and Karsten Berns
    Proceedings of the 13th International Conference on Advanced Robotics (ICAR07), S. 1105 - 1110. (2007)
  • A Customizable, Multi-Host Simulation and Visualization Framework for Robot Applications.
    T Braun, J Wettach and K Berns
    Recent Progress in Robotics, Vol. 370, S. 357 - 369. (2007)
  • Dynamic Speech Interaction for Robotic Agents.
    J Koch, H Jung, J Wettach, G Nemeth and K Berns
    Recent Progress in Robotics, Vol. 370, S. 303 - 315. (2007)
  • Modulare Sicherheits- und Sensorsysteme für autonome mobile Roboter realisiert im Forschungsfahrzeug Marvin.
    Carsten Hillenbrand and Karsten Berns
    20. Fachgespräch Autonome Mobile Systeme (AMS2007), Nr. 1, S. 133 - 138. (2007)
  • Autonomous Behavior-Based Exploration of Office Environments.
    Daniel Schmidt, Tobias Luksch, Jens Wettach and Karsten Berns
    Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 235 - 240. (2006)
  • Entwicklung einer verhaltensbasierten Steuerung zur autonomen Exploration in strukturierter Umgebung von einem Indoor-Roboter.
    Daniel Schmidt
    (2006)
  • Selbstständige Erstellung einer abstrakten topologiebasierten Karte für die autonome Exploration.
    Kalle Kleinlützum, Tobias Luksch, Daniel Schmidt and Karsten Berns
    Autonome Mobile Systeme (AMS) 2005, S. 149 - 155. (2005)

 

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