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

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3 Author(s)
Iagnemma, K. ; Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA ; Shimoda, S. ; Shiller, Z.

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 methodpsilas performance to a similar algorithm is also presented.

Published in:

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Date of Conference:

22-26 Sept. 2008