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Proceedings Paper

Navigation system for autonomous mapper robots
Author(s): Marc Halbach; Yvan Baudoin
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Paper Abstract

This paper describes the conception and realization of a fast, robust, and general navigation system for a mobile (wheeled or legged) robot. A database, representing a high level map of the environment is generated and continuously updated. The first part describes the legged target vehicle and the hexapod robot being developed. The second section deals with spatial and temporal sensor fusion for dynamic environment modeling within an obstacle/free space probabilistic classification grid. Ultrasonic sensors are used, others are suspected to be integrated, and a-priori knowledge is treated. US sensors are controlled by the path planning module. The third part concerns path planning and a simulation of a wheeled robot is also presented.

Paper Details

Date Published: 4 May 1993
PDF: 11 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143780
Show Author Affiliations
Marc Halbach, Royal Military Academy (Belgium)
Yvan Baudoin, Royal Military Academy (Belgium)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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