WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS

Farid García, Matías Alvarado

2010

Abstract

For navigation on outdoor surfaces, usually having different kind of roughness and soft irregularities, this paper proposal is that a wheeled robot combines the gradient method for path planning, alongside it adjusts velocity based on a multi-layer fuzzy neural network; the network integrates information about the roughness and the soft slopes of the terrain to compute the navigation velocity. The implementation is simple and computationally low-cost. The experimental tests show the advantage in the performance of the robot by varying the velocity depending on the terrain features.

Paper Citation

in Harvard Style

García F. and Alvarado M. (2010). WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC & ITS, (ICINCO 2010) ISBN 978-989-8425-00-3, pages 277-284. DOI: 10.5220/0003023402770284

in Bibtex Style

@conference{ivc & its10,
author={Farid García and Matías Alvarado},
title={WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC & ITS, (ICINCO 2010)},
year={2010},
pages={277-284},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003023402770284},
isbn={978-989-8425-00-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: IVC & ITS, (ICINCO 2010)
TI - WHEELED-ROBOT NAVIGATION WITH VELOCITY UPDATING ON ROUGH TERRAINS
SN - 978-989-8425-00-3
AU - García F.
AU - Alvarado M.
PY - 2010
SP - 277
EP - 284
DO - 10.5220/0003023402770284