Communication Dans Un Congrès Année : 2001

Motion generation for a rover on rough terrains

Résumé

This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions.

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hal-01993312 , version 1 (24-01-2019)

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  • HAL Id : hal-01993312 , version 1

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David Bonnafous, Simon Lacroix, Thierry Simeon. Motion generation for a rover on rough terrains. RSJ/IEEE International Conference on Intelligent Robots and Systems, Oct 2001, Maui, United States. pp.784-789. ⟨hal-01993312⟩
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