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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hait, A. Simeon, T. Taix, M. |
| Copyright Year | 1999 |
| Description | Author affiliation: Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France (Hait, A.) |
| Abstract | Deals with motion planning for a mobile robot on rough terrain. Hait and Simeon (1996) proposed a geometrical planner for articulated robots which can take into account uncertainty of the terrain and of the position of the robot. This paper aims at improving the robustness of the trajectory using a landmark based approach. We consider regions of the terrain where natural landmarks are visible. We propose a two-step planning approach taking advantage of these regions to reduce position uncertainty. First a path is determined between the initial and goal configurations, based on simplified models of the constraints. Then a trajectory is planned along this path, verifying the validity and visibility constraints. |
| Starting Page | 11 |
| Ending Page | 16 |
| File Size | 693492 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780351843 |
| DOI | 10.1109/IROS.1999.812973 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1999-10-17 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robustness Robot sensing systems Motion planning Aircraft navigation Uncertainty Trajectory Mobile robots Mars Laboratories Rain |
| Content Type | Text |
| Resource Type | Article |
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