Fast mobile robots in ill-structured environments

This paper addresses the design, development and implementation of a fast mobile robot (> 5m/s) evolving in a crowded and ill-structured environment. It then considers the intelligent observation of ill-structured environments. The purpose of the experiments carried out is to emphasize some aspects of the motion planning problem, namely fast collision avoidance procedures, low level control loops and state observation. A prototype developed around a classical hardware structure completely fulfils the initial requirements.<
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