DocumentCode
3338015
Title
Design and execution of locomotion plans
Author
Pôtel, F.X. ; Richard, F. ; Tournassoud, P.
Author_Institution
Alcatel Alsthom Recherche, Marcoussis, France
fYear
1991
fDate
19-22 June 1991
Firstpage
1045
Abstract
Presents a tool for designing locomotion plans and controlling their execution, suited for mobile robots with an extensive set of command and perception primitives. The use of this tool is illustrated by its application to RAMI, a four-tiltable-track robot fitted to a large scope of applications requiring high locomotion agility. A discussion of plan robustness follows, based on a locomotion plan example.<>
Keywords
mobile robots; path planning; position control; RAMI; design tool; execution; four-tiltable-track robot; locomotion plans; mobile robots; path planning; plan robustness; Actuators; Computational geometry; Error correction; Measurement errors; Mobile robots; Robot control; Robot sensing systems; Robust control; Robustness; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240418
Filename
240418
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