Environment characterization and path optimization to ensure the integrity of a mobile robot

摘要：

This paper is about preservation of physical integrity of mobile robot for real outdoor applications encountered in agricultural .eld. Unlike other approaches that try to detect and to avoid obstacle, we consider the Allowable Speed Grid. This grid depends on the vehicle capabilities, its dynamic constraints, its speed and the 3D rendering of the environment. We made a dynamic study to estimate the acceleration of the inertial center of a vehicle taking into account the geometry of the environment and the trajectory to follow. Then, we establish a perception strategy to ef.ciently use the computing resources of the navigation system. The objective is to focus the attention where the danger may potentially appear. Then, we propose a decision process which consists to select the speed by optimizing a criteria linked to the mission objective.

作者: Pierre Delmas Nicolas Bouton Christophe Debain Roland Chapuis

作者单位: CEMAGREF,24,avenue des Landais,BP 50085,63172 Aubièere,France LASMEA - UMR 6602,24,avenue des Landais,63177 Aubièere,France

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 92-97

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）