DocumentCode
1862795
Title
Free space representation for a mobile robot moving on a rough terrain
Author
Wright, B. Dacre ; Siméon, T.
fYear
1993
fDate
2-6 May 1993
Firstpage
37
Abstract
The problem of autonomous navigation for mobile robots on rough terrains is addressed. Free space structuring is proposed to improve the efficiency of path planning for all-terrain mobile robots. This space structuring is based on the characterization of configuration space regions for whom the locomotion architecture can guarantee terrain irregularities absorption and stability of the vehicle. A planar based on this approach is implemented. Experimental results demonstrate the feasibility of its practical use
Keywords
computerised navigation; mobile robots; path planning; all-terrain mobile robots; autonomous navigation; configuration space; free space structuring; locomotion architecture; path planning; rough terrain; stability; terrain irregularities absorption; Absorption; Mobile robots; Navigation; Orbital robotics; Path planning; Rain; Safety; Stability; Suspensions; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291924
Filename
291924
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