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

J. M. Badcock, J. A. Dun, K. Ajay, L. Kleeman, R. A. Jarvis

Research output: Contribution to journalArticleResearchpeer-review

6 Citations (Scopus)

Abstract

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 beaconiodometry based localisation, optical range finders for environmental mapping, an A pathplanning procedure and continuous motion control. The computational support is divided between a graphics workstation 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.

Original languageEnglish
Pages (from-to)97-103
Number of pages7
JournalRobotica
Volume11
Issue number2
DOIs
Publication statusPublished - 1 Jan 1993

Keywords

  • Autonomous robot
  • Path planning
  • Robot navigation

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