Robotics Research Lab

RAVON

Robust Autonomous Vehicle for Off-road Navigation

Description

Today the world is facing an increasing frequency of natural disasters, large-scale accidents and terrorism. Fire infernos, hurricanes, air crashes and attacks on chemical or nuclear plants are only a few possible scenarios. Unmanned vehicles could patrol frontiers, guard industrial estates, take routine measurements in predefined areas, fulfill reconnaissance tasks in hostile environments or assist in clearance duties in cases of severe accidents or natural disasters.

To meet future demands in autonomous outdoor robotics the Robot Research Laboratory has formulated the development of an entirely autonomous vehicle for rough and vegetated terrain as long term goal.

The reproducible navigation along a predefined track as well as the autonomous exploration and mapping of unknown environments have been defined as crucial target capabilities.

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Technical Data

Length2,35m
Width1,4m
Height1,8m (highest point: GPS-antenna)
Weightapprox. 750 kg
Energy Supply8 Sealed Lead Batteries (12V, 55Ah each)
Operation Timeapprox. 4h
Drive4WD with four independent electric motors
Steeringfront and rear wheel steering via linear motors
Max. velocity10km/h
Controller2 Motorola 56F803 DSPs
Computer4 Industrial PCs
Floor Clearance0,3m
Wheel Diameter0,75m
Max. Sloper100% (at 7km/h)

List of Publications

Sort by: Author, Year, Title

  • Navigation of an autonomous bus in a pedestrian walk.
    Sascha Klein
    (2018)
  • Trajektorienplanung eines autonomen Busses für mobility-on-demand Anwendungen in urbanen Gegenden.
    Maximilian Kunz
    (2018)
  • Robust Localization for Mobile Robots in Forest Environments.
    Thomas Pfister
    RRLab Dissertations, (2017)
    http://www.dr.hut-verlag.de/978-3-8439-3118-2.html ISBN-13: 978-3-8439-3118-2
  • Evaluation of tree trunk detection algorithms.
    Sascha Klein
    (2016)
  • Soft Robot Control with a Behaviour-Based Architecture.
    Christopher Armbrust, Lisa Kiekbusch, Thorsten Ropertz and Karsten Berns
    Soft Robotics - Transferring Theory to Application, S. 81 - 91. (2015)
  • The Application of Design Schemata in Off-Road Robotics.
    Bernd-Helge Schäfer, Christopher Armbrust, Tobias Föhst and Karsten Berns
    Intelligent Transportation Systems Magazine, IEEE, Vol. 5, Nr. 1, S. 4 - 27. (2013)
  • Behaviour-Based Off-Road Robot Navigation.
    Christopher Armbrust, Martin Proetzsch and Karsten Berns
    KI - Künstliche Intelligenz, Vol. 25, Nr. 2, S. 155 - 160. (2011)
  • Control System Design Schemata and their Application in Off-road Robotics.
    Bernd-Helge Schäfer
    RRLab Dissertations, (2011)
    http://www.dr.hut-verlag.de/978-3-86853-865-6.html
  • Geometrische Wegerkennung für einen Offroad Roboter.
    Daniel John
    (2011)
  • Off-road Robotics.
    Karsten Berns and Christopher Armbrust
    KI - Künstliche Intelligenz, Vol. 25, Nr. 2, (2011)
  • Using Behaviour Activity Sequences for Motion Generation and Situation Recognition.
    Christopher Armbrust, Lisa Kiekbusch and Karsten Berns
    Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2011), S. 120 - 127. (2011)
  • A Behaviour-based Integration of Fully Autonomous, Semi-autonomous and Tele-operated Control Modes for an Off-road Robot.
    Christopher Armbrust, Martin Proetzsch, Bernd-Helge Schäfer and Karsten Berns
    Proceedings of the 2nd IFAC Symposium on Telematics Applications, (2010)
  • A Systematic Testing Approach for Autonomous Mobile Robots Using Domain-Specific Languages.
    Martin Proetzsch, Fabian Zimmermann, Robert Eschbach, Johannes Kloos and Karsten Berns
    KI 2010, Vol. 6359, S. 317 - 324. (2010)
  • Control System Design Schemata and their Application in Off-road Robotics.
    Bernd-Helge Schäfer
    (2010)
  • Development Process for Complex Behavior-Based Robot Control Systems.
    Martin Proetzsch
    RRLab Dissertations, (2010)
    http://www.dr.hut-verlag.de/978-3-86853-626-3.html
  • Development of Complex Robotic Systems Using the Behavior-Based Control Architecture iB2C.
    Martin Proetzsch, Tobias Luksch and Karsten Berns
    Robotics and Autonomous Systems, Vol. 58, Nr. 1, S. 46 - 67. (2010)
  • Integration von Luftbildern in RAVONs Navigationssystem zur Lokalisierung und weitsichtigen Planung.
    Patrick Fleischmann
    (2010)
  • Off-road Place Recognition using Fused Image Features.
    Tobias Föhst, Christiano Gava, Michael Arndt, Karsten Berns and Raquel Vassallo
    Proceedings for the joint conference of ISR 2010 and ROBOTIK 2010, S. 151 - 156. (2010)
  • RAVON – The Robust Autonomous Vehicle for Off-road Navigation.
    Christopher Armbrust, Tim Braun, Tobias Föhst, Martin Proetzsch, Alexander Renner, Bernd-Helge Schäfer and Karsten Berns
    Using robots in hazardous environments, (2010)
  • Wegerkennung und -verfolgung für einen Offroad-Roboter.
    Jasmine Haider
    (2010)
  • Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain.
    Tim Braun
    RRLab Dissertations, (2009)
  • Integration of a Physics Engine into the RAVON Simulation.
    Stefan Dyckmans and Jörn Hees
    Applications in Off-road Robotics, (2009)
  • Perception of Environment Properties Relevant for Off-road Navigation.
    Alexander Renner, Tobias Föhst and Karsten Berns
    Autonome Mobile Systeme 2009, S. 201 - 208. (2009)
  • RAVON — The Robust Autonomous Vehicle for Off-road Navigation.
    Christopher Armbrust, Tim Braun, Tobias Föhst, Martin Proetzsch, Alexander Renner, Bernd-Helge Schäfer and Karsten Berns
    Proceedings of the IARP International Workshop on Robotics for Risky Interventions and Environmental Surveillance 2009 (RISE 2009), (2009)
  • Topological Large-Scale Off-road Navigation and Exploration - RAVON at the European Land Robot Trial 2008.
    Tim Braun, Bernd-Helge Schäfer and Karsten Berns
    IROS’09, S. 4387 - 4392. (2009)
  • Using Passages to Support Off-road Robot Navigation.
    Christopher Armbrust, Bernd-Helge Schäfer and Karsten Berns
    Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2009), S. 189 - 194. (2009)
  • 3D Obstacle Detection and Avoidance in Vegetated Off-road Terrain.
    Bernd-Helge Schäfer, Andreas Hach, Martin Proetzsch and Karsten Berns
    Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), S. 923 - 928. (2008)
  • Action/Perception-Oriented Robot Software Design. An Application in Off-road Terrain.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    IEEE 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), (2008)
  • Adaptive Visual Terrain Traversability Estimation using Behavior Observation.
    Tim Braun, Benjamin Seidler and Karsten Berns
    Proceedings of IARP Workshop on Environmental Maintenance and Protection, (2008)
  • Cost-Efficient Global Robot Navigation in Rugged Off-Road Terrain.
    Tim Braun
    (2008)
    http://www.dr.hut-verlag.de/978-3-86853-135-0.html
  • Passage Detection and Evaluation in Off-road Terrain.
    Christopher Armbrust
    (2008)
  • Topological Edge Cost Estimation through Spatio-Temporal Integration of Low-level Behaviour Assessments.
    Tim Braun and Karsten Berns
    Intelligent Autonomous Systems (IAS-10), S. 84 - 91. (2008)
  • Turning an Off-road Robot in Narrow Passages.
    Christopher Armbrust
    (2008)
  • Visual Terrain Traversability Estimation using a Combined Slope/Elevation Model.
    Tim Braun, Henning Bitsch and Karsten Berns
    KI 2008, Vol. 5243, S. 177 - 184. (2008)
  • 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)
  • Emotion Based Control Architecture for Robotics Applications.
    Jochen Hirth, Tim Braun and Karsten Berns
    Proceedings of the Annual German Conference on Artificial Intelligence (KI), S. 464 - 467. (2007)
  • Emotion Based Control Architecture for Robotics Applications (extended version).
    Jochen Hirth, Tim Braun and Karsten Berns
    (2007)
  • Formal Verification of Safety Behaviours of the Outdoor Robot RAVON.
    Martin Proetzsch, Karsten Berns, T Schuele and K Schneider
    Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics (ICINCO 2007), S. 157 - 164. (2007)
  • OBSTACLE DETECTION IN MOBILE OUTDOOR ROBOTS - A Short-term Memory for the Mobile Outdoor Platform RAVON.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics 2007 (ICINCO 2007), S. 141 - 148. (2007)
  • Real-time Visual Self-localisation in Dynamic Environments.
    Bernd-Helge Schäfer, Petra Hahnfeld and Karsten Berns
    Autonome Mobile Systeme, S. 50 - 56. (2007)
  • Pose Estimation in Rough Terrain for the Outdoor Vehicle RAVON.
    Norbert Schmitz, Martin Proetzsch and Karsten Berns
    Proceedings for the joint conference of ISR 2006 and ROBOTIK 2006, Vol. 1956, S. 1956 - 1965. (2006)
  • RAVON - A Robust Autonomous Vehicle for Off-road Navigation.
    Bernd-Helge Schäfer, Martin Proetzsch, Tim Braun, Jan Koch, Norbert Schmitz and Karsten Berns
    European Land Robot Trial - ELROB, (2006)
  • RAVON - An autonomous Vehicle for Risky Intervention and Surveillance.
    Bernd-Helge Schäfer and Karsten Berns
    International Workshop on Robotics for risky intervention and environmental surveillance - RISE, (2006)
  • Detection of Negative Obstacles in Outdoor Terrain.
    Bernd-Helge Schäfer
    (2005)
  • Extension Approach for the Behaviour-Based Control System of the Outdoor Robot RAVON.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    Autonome Mobile Systeme, S. 123 - 129. (2005)
  • Obstacle Detection and Avoidance for Mobile Outdoor Robotics.
    Bernd-Helge Schäfer, Tobias Luksch and Karsten Berns
    EOS Conference on Industrial Imaging and Machine Vision, (2005)
  • Security Aspects of Motion Execution in Outdoor Terrain.
    Bernd-Helge Schäfer
    (2005)
  • Stereo-Vision-Based Obstacle Avoidance in Rough Outdoor Terrain.
    Bernd-Helge Schäfer, Martin Proetzsch and Karsten Berns
    International Symposium on Motor Control and Robotics (ISMCR), (2005)
  • Terrain Negotiation in Rough Outdoor Environments.
    Bernd-Helge Schäfer
    (2005)
  • Terrain Negotiation in Rough Outdoor Environments.
    Bernd-Helge Schäfer
    (2005)

 

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