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ICRA
2005
IEEE

Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation

10 years 3 months ago
Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation
— Many tasks examined for robotic application like rescue missions or humanitarian demining require a robotic vehicle to navigate in unstructured natural terrain. This paper introduces a motion control for a four-wheeled offroad vehicle trying to tackle the problems arising. These include rough ground, steep slopes, wheel slippage, skidding and others that are difficult to grasp with a physical model and often impossible to acquire with sensory equipment. Therefore, a more reactive approach is chosen using a behavior-based architecture. This way a certain generalization in unknown environment is expected. The resulting behavior network is described and experiments performed in a simulation environment as well as in real world are presented. Additionally the performance of the utilized vehicle in case of mechanical or electronic defects is examined in simulation.
Martin Proetzsch, Tobias Luksch, Karsten Berns
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Martin Proetzsch, Tobias Luksch, Karsten Berns
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