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.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)