The authors introduce a framework and prospective solutions for intelligent locomotion, defined as the ability for a mobile robot to cross over obstacles along a path roughly determined either through teleoperation or by a navigation path-finder. Then, they present a simple but efficient control scheme derived from these concepts, taking into account ground clearance, vehicle safety, and possible occlusions in the vision field. This control scheme is applied to Rami, a four-tiltable-track robot equipped with force sensors, an inertial reference system, a laser-stripe range finder, and extensive real-time computing facilities based on a decentralized architecture.<>


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    Titel :

    Locomotion of an all-terrain mobile robot


    Beteiligte:
    Iagolnitzer, M. (Autor:in) / Richard, F. (Autor:in) / Samson, J.F. (Autor:in) / Tournassoud, P. (Autor:in)


    Erscheinungsdatum :

    01.01.1992


    Format / Umfang :

    544671 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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