Abstract
This paper presents our work of integration during the last years within the context of sensor-based robot navigation systems. In our motion system, as in many others, there are functionalities involved such as modeling, planning or motion control, which have to be integrated within an architecture. This paper addresses this problematic. Furthermore, we also discuss the lessons learned while: (i) designing, testing and validating techniques that implement the functionalities of the navigation system, (ii) building the architecture of integration, and (iii) using the system on several robots equipped with different sensors in different laboratories.
Highlights
Robots are being developed that operate under a wide variety of conditions including unknown, unstructured and dynamic scenarios
One important issue is to bound the scope of the mobility system, which is related to the differences between global and local navigation systems (Fig. 1)
The motion generator Motion Generator (MG) is based on a dynamic motion controller that converts the solution of the obstacle avoidance method into a command that complies with the vehicle kinematics and dynamics
Summary
Robots are being developed that operate under a wide variety of conditions including unknown, unstructured and dynamic scenarios. The a priori knowledge, the sensor information, the motion constraints of the vehicle or the computational power This usually leads to the development of specific navigation systems to accommodate the requirements of each application. For global systems, the construction of accurate models and the tracking of the position of the vehicle are important to create global plans and to guarantee motion convergence, while real-time execution is not. For local systems, simpler local models and rough planning are enough, while motion constraints related to real-time or to the vehicle such as shape, kinematics and dynamics are important to guarantee robust obstacle avoidance. This paper presents the evolution of our work during the last years within the context of local sensor-based navigation systems focusing on those aspects related to the integration architecture.
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