Sampling-Based Motion Planning for Terrain Mobile Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00170053" target="_blank" >RIV/68407700:21230/10:00170053 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Sampling-Based Motion Planning for Terrain Mobile Robots
Original language description
Motion is one of the basic skills of mobile robots. Many methods have been introduced for solving the motion planning problem. The methods are however mainly intended to indoor environments. As mobile robots are expected to be helpful in difficult or even dangerous tasks, the need for the motion planning on a terrain is increased. Example of such a~task is mining or extraterrestrial planet exploration. This paper presents a novel method for planning a motion of a rover on a rough terrain. We assume partial knowledge about the terrain which is modeled by a triangular mesh. The model can be obtained e.g. by reconstruction of data provided by a laser rangefinder sensor. The proposed planning method uses sampling-based paradigm for finding a trajectory fora mobile robot. The presented approach considers the terrain properties (e.g. coefficient of friction) in order to generate more realistic plans.
Czech name
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Czech description
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Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
POSTER 2010 - Proceedings of the 14th International Conference on Electrical Engineering
ISBN
978-80-01-04544-2
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
ČVUT v Praze, FEL
Place of publication
Praha
Event location
Praha
Event date
May 6, 2010
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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