Title :
Motion generation for a rover on rough terrains
Author :
Bonnafous, David ; Lacroix, Simon ; Siméon, Thierry
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions
Keywords :
computerised navigation; mobile robots; path planning; vehicles; Lama; articulated rover; digital elevation map; mobile robot; motion generation; rough terrains; safe motions; Geometry; Motion control; Navigation; Rain; Robots; Rough surfaces; Solid modeling; Surface roughness; Testing; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976264
