Title :
Free space representation for a mobile robot moving on a rough terrain
Author :
Wright, B. Dacre ; Siméon, T.
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291924
