The CSUF Ground Rover: A robotic Rover for Searching Unknown Areas

Ye Lu, Jidong Huang

Abstract:	The objective of the CSUF Ground Rover project is to create a rover that can navigate in an unknown environment, over unknown terrain, around obstacles, and in varied light conditions to identify and retrieve a predefined object, through both manual and autonomous operations. The mechanical design of the rover is based on the Rocker-bogie suspension system which has six driving wheels with four rotation wheels that provides the capability to drive over unknown terrain. The rover utilizes a variety of sensors for navigation, including GPS, Kinect, inertial measurement unit (IMU) and two cameras. The data from GPS, Kinect and IMU are used primarily for dynamic path planning when searching an unknown area. And the data from the cameras are used for both obstacle avoidance and identifying, tracking and navigating to a predefined object.
Published in:	Proceedings of the 2015 International Technical Meeting of The Institute of Navigation January 26 - 28, 2015 Laguna Cliffs Marriott Dana Point, California
Pages:	798 - 803
Cite this article:	Lu, Ye, Huang, Jidong, "The CSUF Ground Rover: A robotic Rover for Searching Unknown Areas," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 798-803.
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