Title :
Design and execution of locomotion plans
Author :
Pôtel, F.X. ; Richard, F. ; Tournassoud, P.
Author_Institution :
Alcatel Alsthom Recherche, Marcoussis, France
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;
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
DOI :
10.1109/ICAR.1991.240418
