Contact Dr. Cang Ye

Phone:(804) 828-0346

Google Voice: (501) 237-1818

Fax: (804) 828-2771   

Email: cye@vcu.edu

Laboratory

Dept. of Computer Science

Virginia Commonwealth University

401 West Main Street, E2264

Richmond, VA 23284-3019

Office

Dept. of Computer Science

Virginia Commonwealth University

401 West Main Street, E2240

Richmond, VA 23284-3019

Robotics Laboratory

Department of Computer Science, College of Engineering

Virginia Commonwealth University

© 2016 Dr. Ye's  LAB. ALL RIGHTS RESERVED.

Obstacle Avoidance/Negotiation for the Segway Robotic Mobility Platform

Laser data and robot pose data are sent to the remote laptop computer via wireless network and map-building and avoidance/negotiation process are visualized in the laptop computer in real-time.

System Overview

Electronics on the Segway RMP

Urban Obstacle Negotiation (UON)

1. Synthetic urban environment A

(a) Segway RMP UON video

(b) Remote visualization (elevation map)

(c) Remote visualization (traversability map)

2. Synthetic urban environment B

(a) Segway RMP UON video

(b) Remote visualization (elevation map)

(c) Remote visualization (traversability map)

Indoor Obstacle Avoidance

1. At UM's Mobile Robotics Lab

(a) Obstacle avoidance: video 1         

(b) Remote visualization (3D map): video 1

(c) Obstacle avoidance: video 2         

(d) Remote visualization (3D map): video 2

2. In the University's Video Studio

(a) Obstacle avoidance: video          

(b) Remote visualization (elevation map)