Whisker based mobile robot navigation

Whisker based mobile robot navigation
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DOI：
10.1109/iros.1996.570842
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发表时间：
1996-11
期刊：
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96
影响因子：
--
通讯作者：
D. Jung;A. Zelinsky
D. Jung;A. Zelinsky
中科院分区：
其他
文献类型：
--
作者：
D. Jung;A. Zelinsky

文献摘要

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在本文中，我们描述了一个独特的比例触须传感器和我们的一般行为为基础的软件架构的设计和实现。基于行为的代理的架构是用来实现有目的的移动的机器人导航在一个杂乱的室内环境。晶须是专门为满足高速和近壁跟随的要求而开发的。我们还讨论了我们构建的具体架构。
In this paper we describe the design and implementation of a unique proportional whisker sensor and our general behaviour based software architecture. The architecture for behaviour based agents is used to realise purposive mobile robot navigation in a cluttered indoor environment. The whisker was developed specifically to meet the requirements of high speed and close wall following. We also discuss the specific architecture we have constructed.