| Proetzsch04a |
| BibTeX Type: | inproceedings |
| Category: | behaviour |
| Author*: | M. Proetzsch and T. Luksch and K. Berns |
| Title*: | Behaviour-based Motion Control for Offroad Navigation |
| Booktitle*: | International Workshop on Humanitarian Demining (HUDEM) |
| Year*: | 2004 |
| Address: | Brussels, Belgium |
| Month: | June 16-18 |
| Agrosy Keywords: | behaviour |
| Abstract: | Many tasks examined for robotic application like rescue missions or humanitarian demining require a robotic vehicle to navigate in unstructured natural terrain. This paper introduces a motion control for a four-wheeled offroad vehicle trying to tackle the problems arising. These include rough ground, steep slopes, wheel slippage, skidding and others that are difficult to grasp with a physical model and often impossible to aquire with sensoric equipment. Therefore a more reactive approach is choosen using a behaviour-based architecture. This way a certain generalisation in unknowned environment is expected. The resulting behaviour network is described and initial experiments performed in a simulations environment are presented.
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| * marks obligatory BibTeX fields |
BibTeX Entry:
@inproceedings{Proetzsch04a,
author = {M. Proetzsch and T. Luksch and K. Berns},
title = {Behaviour-based Motion Control for Offroad Navigation},
booktitle = {International Workshop on Humanitarian Demining (HUDEM)},
year = {2004},
address = {Brussels, Belgium},
month = {June 16-18},
keyword_list = {behaviour},
}
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