Advanced perception and navigation system for autonomous applications

(PANORAMA EP 2483, 1989-1994)

The laboratory participated the project EP 2483 in ESPRIT II program. The project called PANORAMA, developed an advanced perception and navigation system for autonomous robots used in unstructured environments like fields, forest, mines etc. As a part of the Finnish sub-consortium the laboratory was responsible on developing the piloting unit of the Panorama system (PISY). The mobile robot constructed around the Honda all-terrain vehicle ARSKA., shown in the figure. It was used as the test bed in the project. The final demonstration was made in September 1993 by using a full scaled mining drill-rig manufactured by Tamrock.

ARSKA (Autonomous Robot for Surveillance Key Applications) old version around 1992

PANORAMA team at final demo in Tampere in October 1993

The following organisations participated: SAGEM (main contractor), BAe, ESAMS, Univ. of Sauthampton, Techical Univ. of Madrid, C.R.I.F, SEPA, LNETI, CEA, TAMROCK, RAUMA, HUT, VTT

Publications

• T Schonberg, M Ojala, J Suomela, A Torpo and A Halme,
  "Positioning an autonomous off-road vehicle by using fused DGPS and inertial navigation,"
  International Journal of Systems Science, Vol. 27, no. 8, s. 745-752, 1996.
• K Koskinen, A Halme and A Tuunanen,
  "Perception and Navigation System for Autonomous Mobile Applications,"
  in Proceedings on Tampere International Conference on Machine Automation, Tampere: Tampere University of Technology, 1994, 111-126.
• T Schönberg, M Ojala, E Koskimäki, J Suomela and A Halme,
  "A small Scaled Autonomous Test Vehicle for Developing Autonomous Off-Road Applications,"
  in Proceedings of Tampere International Conference on Machine Automation, Tampere: Tampere University of Technology, 1994, 143-157.
• A Halme and K Koskinen,
  "An Approach to Automate Mobility of Working Machines in Outdoor Environment,"
  in Proc. IEEE International Conference on Intelligent Robots and Systems, Yokohama, 1993, IEEE, 1993, 598-603.
• K Koskinen,
  "Research in Autonomous Mobile Robots and Workmachines,"
  in High Technology in Finland, E Tunkelo, S Sjöman and T Huokuna, Helsinki: Teknillisten tieteiden akatemia, 1993, 78-79.
• K Koskinen, H Mäkelä, K Rintanen, A Halme, M Ojala, J Suomela and T Schönberg,
  "An Experimental Autonomous Land Vehicle for Off-Road Piloting and Navigation Research,"
  in Proc. IEEE Conference on Systems, Man and Cybernetics, Le Touquet, 1993, Ranska: IEEE, 1993, 151-156.
• K Koskinen, H Mäkelä, K Rintanen and A Halme,
  "A Piloting System for Autonomous Robots in Outdoor Applications,"
  in Proc. ICARCV 92, Singapore, 1992, 1992.
• K Koskinen, H Mäkelä, K Rintanen, A Penttinen and A Halme,
  "Motion Control for Autonomous Vehicles in Outdoor Environment,"
  in Proc. San Diego, 1992, International Conference on Industrial Electronics, Control, Instrumentation, and Automation, USA: IEEE, 1992, 838-843.