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Near-Optimal Navigation of High Speed Mobile Robots on Uneven Terrain
MIT.
RIKEN BSI, Japan.
Ariel University Center, Israel.
2008 (engelsk)Inngår i: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Vols 1-3, Piscataway, N.J.: IEEE Press, 2008, s. 4098-4103Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper proposes a method for near-optimal navigation of high speed mobile robots on uneven terrain. The method relies on a layered control strategy. A high-level planning layer generates an optimal desired trajectory through uneven terrain. A low-level navigation layer guides a robot along the desired trajectory via a potential field-based control algorithm. The high-level planner is guaranteed to yield optimal trajectories but is computationally intensive. The low-level navigation layer is sub-optimal but computationally efficient. To guard against failures at the navigation layer, a model-based lookahead approach is employed that utilizes a reduced form of the optimal trajectory generation algorithm. Simulation results show that the proposed method can successfully navigate a mobile robot over uneven terrain while avoiding hazards. A comparison of the method's performance to a similar algorithm is also presented. ©2008 IEEE.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE Press, 2008. s. 4098-4103
Emneord [en]
Computationally efficient, Control strategies, High speed mobile, Look-ahead, Model-based, Optimal trajectories, Optimal trajectory generation, Potential field, Simulation result, Uneven terrain
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20770DOI: 10.1109/IROS.2008.4650592ISI: 000259998202207Scopus ID: 2-s2.0-69549122898ISBN: 978-142442058-2 OAI: oai:DiVA.org:hh-20770DiVA, id: diva2:586729
Konferanse
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, FRance, 22-26 September, 2008
Tilgjengelig fra: 2013-01-12 Laget: 2013-01-12 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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