Navigation Strategy to Overcome Rough Terrain for Miniature Wheel-Track Hybrid Mobile Robot Platform

被引：0
|
作者：
Kim, Yoon-Gu [1 ]
Kwak, Jeong-Hwan [1 ]
Hong, Dae-Han [1 ]
Shin, Dong-Hwan [1 ]
An, Jinung [1 ]
机构：
[1] Daegu Gyeongbuk Inst Sci & Technol, Div Robot Syst, Taegu 711873, South Korea
来源：
2012 9TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAL) | 2012年
关键词：
wheel-track hybrid mechanism; attack angle; obstacle avoidance; rough terrain mobility;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
It is necessary for the special service robot to have some parts of autonomous mobility which include local path planning, obstacle detection and avoidance. This work focuses on navigation strategy to overcome rough terrains for the miniature wheel-track hybrid mobile robot platform developed in the previous work. The navigation strategy describes determination of track attack angle and local path planning with obstacle collision avoidance. The validness and adaptability are verified through the simulation and experimental result.
引用
收藏
页码：571 / 572
页数：2
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