Proetzsch05  |
| BibTeX Type: | inproceedings |
| Category: | behaviour |
| Author*: | M. Proetzsch and T. Luksch and K. Berns |
| Title*: | Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation |
| Booktitle*: | Proceedings of the 20th IEEE International Conference on Robotics and Automation (ICRA) |
| Year*: | 2005 |
| Pages: | 4697-4702 |
| Address: | Barcelona, Spain |
| Month: | April 18-22 |
| 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 acquire with sensory equipment.
Therefore, a more reactive approach is chosen using a behavior-based architecture.
This way a certain generalization in unknown environment is expected.
The resulting behavior network is described and experiments performed in a simulation environment as well as in real world are presented.
Additionally the performance of the utilized vehicle in case of mechanical or electronic defects is examined in simulation. |
| * marks obligatory BibTeX fields |
BibTeX Entry:
@inproceedings{Proetzsch05,
author = {M. Proetzsch and T. Luksch and K. Berns},
title = {Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation},
booktitle = {Proceedings of the 20th IEEE International Conference on Robotics and Automation (ICRA)},
year = {2005},
pages = {4697-4702 },
address = {Barcelona, Spain},
month = {April 18-22},
keyword_list = {behaviour},
}
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