Practical Path Planning and Obstacle Avoidance for Autonomous Mowing
نویسندگان
چکیده
There is a need for systems which can autonomously perform coverage tasks on large outdoor areas. Unfortunately, the state-of-theart 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.
منابع مشابه
A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm
In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...
متن کامل4TH EUROPEAN CONFERENCE FOR AEROSPACE SCIENCES A practical receding horizon control framework for path planning and control of autonomous VTOL vehicles
This paper describes an integrated path planning and tracking control framework for autonomous verticaltake-off-and-landing (VTOL) vehicles, specially a quadrotor. The path planning adopts a receding horizon strategy to repeatedly plan a local trajectory that satisfies the vehicle dynamics and obstacle avoidance requirement. A tracking controller is then designed to track the optimised path. Th...
متن کاملWavefront Propagation and Fuzzy Based Autonomous Navigation
Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementin...
متن کاملObstacle avoidance for an autonomous vehicle using force field method
This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...
متن کاملMotion Planning of a Pneumatic
Integration of sensing and motion planning plays a crucial role in autonomous robot operation. We present a framework for sensor-based robot motion planning that uses learning to handle arbitrarily conngured sensors and robots. The theoretical basis of this approach is the concept of the Perceptual Control Manifold that extends the notion of the robot connguration space to include sensor space....
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006