Sampling-Based Motion Planning for Terrain Mobile Robots

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Sampling-Based Motion Planning for Terrain Mobile Robots

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Sampling-Based Motion Planning for Terrain Mobile Robots

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2010

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

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Název nakladatele

ČVUT v Praze, FEL

Místo vydání

Praha

Místo konání akce

Praha

Datum konání akce

6. 5. 2010

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

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