Title :
Design, architecture and control of a mobile site-modeling robot
Author :
Gueorguiev, A. ; Allen, P.K. ; Gold, E. ; Blaer, P.
Author_Institution :
CS Dept., Columbia Univ., NY, USA
Abstract :
A distributed, modular, heterogeneous architecture is presented that illustrates an approach to solving and integrating common tasks in mobile robotics, such as path planning, localization, sensor fusion, environmental modeling, and motion control. Experimental results are shown for an autonomous navigation task to confirm the applicability of our approach
Keywords :
computerised navigation; distributed control; mobile robots; path planning; position measurement; sensor fusion; autonomous navigation task; distributed modular heterogeneous architecture; environmental modeling; localization; mobile site-modeling robot design; motion control; path planning; sensor fusion; Fires; Gold; Inertial navigation; Mobile robots; Motion control; Path planning; Robot control; Robot sensing systems; Sensor fusion; Urban planning;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845166
