AMOR (robot)
AMOR (short for A utonomous M obile O utdoor R obot ) is an outdoor robot from the Institute for Real-Time Learning Systems at the University of Siegen . This moving robot is based on a Yamaha Kodiak 400 quad equipped with various actuators and sensors. Steering, accelerator, brake and gear shifting can be remotely controlled or controlled from the built-in computer. In order to record its condition and its environment, AMOR is equipped with the following sensors:
- Laser scanner (two in front, one in rear)
- Ultrasonic sensors (five in front)
- Imaging cameras (one looking ahead, one centrally with all-round view)
- Smart camera
- Inertial sensor system consisting of several acceleration and yaw rate sensors per axis
- Optical motion detection (OBE) (two units at the rear of the vehicle)
- Electronic compass
- Differential GPS
- Weather station
concept
The robot should combine off-road mobility, long range and robustness against weather and environmental influences. In order to enable high cross-country mobility on the one hand and a long range on the other hand, a chain-driven vehicle was dispensed with due to the high energy consumption. Instead, a smaller wheel-drive vehicle with an internal combustion engine was selected. The choice fell on a so-called ATV (All Terrain Vehicle), which is very off-road despite its small size. These vehicles are also very robust and insensitive to environmental influences. A central point of the project is the use of many inexpensive sensors, which can show their respective strengths in different weather and environmental conditions.
In order to reduce the amount of data to be processed and to ensure compliance with real-time requirements, the data from various individual sensors are preprocessed in microcomputers. The robot has a powerful x86-based computer that is connected to the sensors and actuators via a CAN bus and thus controls the vehicle.
Awards
The first big success that AMOR was able to achieve is the victory of the Urban / Non-urban Autonomous Reconnaissance Scenario at the C- ELROB 2007. During the same event, AMOR took second place in the Non-urban Reconnaissance Scenario and fifth place in Urban Reconnaissance scenario .
As part of M- ELROB 2010, AMOR was awarded the innovation prize after winning the mule and transport categories and second place in the approaching category.