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A landmark-based motion planner for rough terrain navigation

  • Chapter 4 Mobile Robots Navigation
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Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

In this paper we describe a motion planner for a mobile robot on a natural terrain. This planner takes into account placement constraints of the robot on the terrain and landmark visibility. It is based on a two-step approach: during the first step, a global graph of subgoals is generated in order to guide the robot through the landmark visibility regions; the second step consists in planning local trajectories between the subgoals, satisfying the robot placement constraints.

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Author information

Authors and Affiliations

  1. LAAS-CNRS, 7, Avenue du Colonel-Roche, 31077, Toulouse Cedex, France

    A. Hait, T. Siméon & M. Taïx

Authors
  1. A. Hait
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  2. T. Siméon
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  3. M. Taïx
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Hait, A., Siméon, T., Taïx, M. (1998). A landmark-based motion planner for rough terrain navigation. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112964

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  • DOI: https://doi.org/10.1007/BFb0112964

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

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