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

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

571

Lastpage

572

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/URAI.2012.6463081

Filename

6463081