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An autonomous robot navigation system - integrating environmental mapping, path planning, localisation and motion controla

Published online by Cambridge University Press:  09 March 2009

J. M. Badcock ,
J. A. Dun ,
K. jay ,
L. Kleeman  and
R. A. Jarvisb
J. M. Badcock
Affiliation:
Intelligent Robotics Research CentreMonash UniversityClaytonVictoria 3168 (Australia)
K. jay
Affiliation:
Intelligent Robotics Research CentreMonash UniversityClaytonVictoria 3168 (Australia)
L. Kleeman
Affiliation:
Intelligent Robotics Research CentreMonash UniversityClaytonVictoria 3168 (Australia)
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Summary

This paper describes an autonomous robot vehicle which can navigate through an initially unknown obstacle field to a nominated goal or systematically map its working environment. The navigation system uses combined ultrasonic beacon/odometry based localisation, optical range finders for environmental mapping, an A path planning procedure and continuous motion control. The computational support is divided between a graphics workstation 'home base' and a PC hosted transputer array on-board. The integration of all the subsystems cited above has been achieved and many successful navigation experiments completed. Possible further developments which would enhance the capabilities of the system are also discussed.

Keywords

Robot navigationPath planningAutonomous robot.
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 97 - 103
Copyright
Copyright © Cambridge University Press 1993

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