Page - 60 - in Proceedings of the OAGM&ARW Joint Workshop - Vision, Automation and Robotics

able to compensate that with nearly stepless motion, giving the option not to lose time by having to stop and wait for movement transmission on the screen. The map presented in Fig. 3 was generated in two different areas. The left part (a) shows a testrun inside a building with small rooms. The right part of the picture (b) shows the generated map of the reconnoitring of building structures challenge in big rooms during the ELROB competition. In (b) it can be seen that the system tends to lose orientation and fails by generating a solid map of the area. V. SUMMARY AND OUTLOOK The aim of this paper was to develop a concept for the taurob robot to participate at the ELROB 2016. One part was to integrate two Pointgrey cameras for a stereo vision system, twoSick2Dlaser scanners,oneGarminGPSmodule and one embedded computer into the robot system. The selection of these sensors was based on the criteria of the ELROB scenarios. Additionally, a tele-operating mode was implemented by the open source program ROS for steering the robot by a keyboard or an Xbox controller. To check reliability of the robot system for the ELROB, trials in specific test scenarios were carried out. The obtained results of the test scenarios show that operating the robot by the Xbox controller is easier and more precise than by the keyboard. Furthermore, it is possible to build a 2D map of indoor areas by the 2D laser scanner. Moreover, a dummy body with a length of 1,80m and a weight of 20kg can be dragged by the robot’s arm. Although there is still some potential for improvement in different fields, the system achieved a 3rd rank in the Reconnoitring of structures part of competition. The next step will be the upgrade to a more autonomous state of operation including navigation and full support of visual data processing as well as 3D Mapping including radiation and visual integration of Points of interests (POIs). Also, an advanced controlling system for the arm is planned. The project is in further development and will be featured on schedule for EnRicH 2017 in Austria and the next ELROB 2018 in Riga. REFERENCES [1] austrobotics.com. (2016) austrobotics: robots for research and education. austrobotics. [Online]. Available: http://austrobotics.com [2] ELROB2016. (2016) Elrob - the european land robot trial. ELROB 2016. [Online]. Available: http://www.elrob.org/elrob-2016 [3] ELROB2016b. (2016) Concept and rules, elrob 2016, 9th european land robot trials. ELROB 2016. [Online]. Available: http://www.elrob.org/elrob-2016-rules [4] T. Graylin. (2016) Teleop-twist-keyboard. Robot Operating System ROS. [Online]. Available: http://wiki.ros.org/teleop-twist-keyboard [5] T. Luksch and K. Berns, Autonome mobile Systeme 2007, 20th ed. Kaiserslautern, DE: Springer, 2007. [6] M. Quigley, B. Gerkey, K. Watts, and B. Gassend. (2016) Joy. Robot Operating System ROS. [Online]. Available: http://wiki.ros.org/joy [7] Videogameconsolelibrary. (2016) Xbox 360 con- troller. Videogameconsolelibrary.com. [Online]. Available: http://www.videogameconsolelibrary.com 60