Navigation system for autonomous mapper robots

Marc Halbach; Yvan Baudoin

doi:10.1117/12.143780

4 May 1993 Navigation system for autonomous mapper robots

Marc Halbach, Yvan Baudoin

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143780
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

This paper describes the conception and realization of a fast, robust, and general navigation system for a mobile (wheeled or legged) robot. A database, representing a high level map of the environment is generated and continuously updated. The first part describes the legged target vehicle and the hexapod robot being developed. The second section deals with spatial and temporal sensor fusion for dynamic environment modeling within an obstacle/free space probabilistic classification grid. Ultrasonic sensors are used, others are suspected to be integrated, and a-priori knowledge is treated. US sensors are controlled by the path planning module. The third part concerns path planning and a simulation of a wheeled robot is also presented.

Citation Download Citation

Marc Halbach and Yvan Baudoin "Navigation system for autonomous mapper robots", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143780

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