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ICRA
1998
IEEE

A Multi-Loop Robust Navigation Architecture for Mobile Robots

13 years 7 months ago
A Multi-Loop Robust Navigation Architecture for Mobile Robots
This paper describes a multi-loop, modular navigation architecture for mobile robots whose structure allows the execution of most types of navigation tasks in a highly robust manner. The modularity allows the clear separation of functions according to their complexity and priority. We propose a clear separation between local and global navigation in such a way that both can run independently, but an adequate alternation/competition between them allows accomplishment of trajectory execution including avoidance of unknown obstacles. The multi-loop nature of the architecture ensures adequate stability at different levels yielding safe navigation and accomplishment of higher level tasks. Examples may range from goal reaching in some point of the environment to a 3D-environment mapping application, as this is the case in this work.
José Castro, Vítor Santos, M. Isabel
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1998
Where ICRA
Authors José Castro, Vítor Santos, M. Isabel Ribeiro
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