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2008
IEEE

Near-optimal navigation of high speed mobile robots on uneven terrain

8 years 10 months ago
Near-optimal navigation of high speed mobile robots on uneven terrain
—This paper proposes a method for near-optimal navigation of high speed mobile robots on uneven terrain. The method relies on a layered control strategy. A high-level planning layer generates an optimal desired trajectory through uneven terrain. A low-level navigation layer guides a robot along the desired trajectory via a potential field-based control algorithm. The high-level planner is guaranteed to yield optimal trajectories but is computationally intensive. The low-level navigation layer is sub-optimal but computationally efficient. To guard against failures at the navigation layer, a model-based lookahead approach is employed that utilizes a reduced form of the optimal trajectory generation algorithm. Simulation results show that the proposed method can successfully navigate a mobile robot over uneven terrain while avoiding hazards. A comparison of the method’s performance to a similar algorithm is also presented.
Karl Iagnemma, Shingo Shimoda, Zvi Shiller
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Karl Iagnemma, Shingo Shimoda, Zvi Shiller
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