DocumentCode
2095280
Title
Motion generation for a rover on rough terrains
Author
Bonnafous, David ; Lacroix, Simon ; Siméon, Thierry
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
2
fYear
2001
fDate
2001
Firstpage
784
Abstract
This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions
Keywords
computerised navigation; mobile robots; path planning; vehicles; Lama; articulated rover; digital elevation map; mobile robot; motion generation; rough terrains; safe motions; Geometry; Motion control; Navigation; Rain; Robots; Rough surfaces; Solid modeling; Surface roughness; Testing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.976264
Filename
976264
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