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Behaviour-Based Off-Road Robot Navigation

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Abstract

This paper describes concepts for the control of the autonomous off-road vehicle ravon. The complexity of the target environment comprising rough terrain as well as vegetation requires capabilities reaching from low-level safety aspects to high-level planning. It is shown how the modular implementation using the behaviour-based architecture iB2C allows for the realisation of complex behaviour networks based on a concept for the uniform representation of sensor data. The effectiveness of the presented approach is briefly shown in a real-world experiment.

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Notes

  1. iB2C: integrated Behaviour-Based Control.

  2. http://elrob.org/.

  3. For a more detailed description see [10].

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Authors and Affiliations

  1. Robotics Research Lab, Department of Computer Sciences, University of Kaiserslautern, P.O. Box 3049, 67653, Kaiserslautern, Germany

    Christopher Armbrust, Martin Proetzsch & Karsten Berns

Authors
  1. Christopher Armbrust
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  2. Martin Proetzsch
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  3. Karsten Berns
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Correspondence to Christopher Armbrust.

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Armbrust, C., Proetzsch, M. & Berns, K. Behaviour-Based Off-Road Robot Navigation. Künstl Intell 25, 155–160 (2011). https://doi.org/10.1007/s13218-011-0090-2

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  • DOI: https://doi.org/10.1007/s13218-011-0090-2

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