Title :
Navigation strategy to overcome rough terrain for miniature wheel-track hybrid mobile robot platform
Author :
Yoon-Gu Kim ; Jeong-Hwan Kwak ; Dae-Han Hong ; Dong-Hwan Shin ; Jinung An
Author_Institution :
Div. of Robot. Syst., Daegu Gyeongbuk Inst. of Sci. & Technol., Daegu, South Korea
Abstract :
It is necessary for the special service robot to have some parts of autonomous mobility which include local path planning, obstacle detection and avoidance. This work focuses on navigation strategy to overcome rough terrains for the miniature wheel-track hybrid mobile robot platform developed in the previous work. The navigation strategy describes determination of track attack angle and local path planning with obstacle collision avoidance. The validness and adaptability are verified through the simulation and experimental result.
Keywords :
collision avoidance; mobile robots; service robots; wheels; autonomous mobility; local path planning; miniature wheel-track hybrid mobile robot platform; navigation strategy; obstacle collision avoidance; obstacle detection; rough terrain; special service robot; track attack angle determination; Abstracts; Ambient intelligence; Mobile robots; Navigation; Robot sensing systems; Simulation; attack angle; obstacle avoidance; rough terrain mobility; wheel-track hybrid mechanism;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463081
