The goal of this paper is to present the implementation and the validation of a local navigation of a fast mobile robot using local grid representation of an unstructured environment. After a presentation of our fast mobile robot based on transputer devices, we present a local modeling of unstructured environment. This polar grid modeling fits with an original use of ultrasonic sensors. A fusion method based on fuzzy logic and an integration of robot motion complete this local modelization. In a third part, we present a local navigation that can take into account nonholonomy and dynamic constraints. Based on a time horizon and escape lines, the local navigator gives a pilot only admissible trajectories. The last part describes the implementation of the two parts together, and discusses results obtained on a real fast mobile robot: Snake II.


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    Title :

    Local navigation with local map building for a fast mobile robot: SNAKE II


    Contributors:
    Patrouix, O. (author) / Novales, C. (author)


    Publication date :

    1994-01-01


    Size :

    588493 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Local Navigation with Local Map Building for a Fast Mobile Robot: SNAKE II

    Patrouix, O. / Novales, C. / IEEE; Industrial Electronics Society | British Library Conference Proceedings | 1994


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