Practical path planning and obstacle avoidance for autonomous mowing
Data(s) |
01/12/2006
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Resumo |
There is a need for systems which can autonomously perform coverage tasks on large outdoor areas. Unfortunately, the state-of-the-art is to use GPS based localization, which is not suitable for precise operations near trees and other obstructions. In this paper we present a robotic platform for autonomous coverage tasks. The system architecture integrates laser based localization and mapping using the Atlas Framework with Rapidly-Exploring Random Trees path planning and Virtual Force Field obstacle avoidance. We demonstrate the performance of the system in simulation as well as with real world experiments. |
Formato |
application/pdf |
Identificador | |
Relação |
http://eprints.qut.edu.au/81682/1/paper_5_32.pdf http://www.araa.asn.au/acra/acra2006/papers/paper_5_32.pdf Nourani-Vatani, Navid, Bosse, Michael, Roberts, Jonathan, & Dunbabin, Matthew (2006) Practical path planning and obstacle avoidance for autonomous mowing. In Proceedings of the Australasian Conference on Robotics and Automation 2006, Auckland, New Zealand, pp. 1-9. |
Direitos |
Copyright 2006 [please consult the authors] |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #Path planning #Rapidly-Exploring Random Forests #Atlas Framework #robotics #virtual forces |
Tipo |
Conference Paper |