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Communication Dans Un Congrès Année : 1993

Free Space Representation for a Mobile Robot moving on a Rough Terrain

Résumé

This paper addresses the problem of autonomous navigation for mobile robots on rough terrains. We propose a free space structuring as a promising way 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 which the locomotion architecture can guarantee terrain irregularities absorption and stability of the vehicle. A planner based on this approach has been implemented and experimental results show its interest for practical use.
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Dates et versions

hal-04295455 , version 1 (20-11-2023)

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  • HAL Id : hal-04295455 , version 1

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Benoit Dacre-Wright, Thierry Simeon. Free Space Representation for a Mobile Robot moving on a Rough Terrain. IEEE International Conference on Robotics and Automation (ICRA), May 1993, Atlanta, United States. ⟨hal-04295455⟩
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