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An integrated system structure for the path control of mobile robots

Guldner, J. and Utkin, V.I. (1993) An integrated system structure for the path control of mobile robots. In: Autonome Mobile Systeme, pp. 239-250. TU Muenchen, Lehrstuhl fuer Steuerungs- und Regelungstechnik. 9. Fachgespraech an der TU Muenchen.

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An important component of intelligent autonomous mobile robots is an on-line path control scheme. Operation in obstructed environments requires "awareness" of obstacles in the workspace, which involves the subtasks of data acquisition and object representation, global path planning, local collision avoidance, and motion control. In order to comply with system specifications, an in-depth understanding of the problem at an abstract level (e.g. environment geometry, robot kinematics and dynamics) as well as at an implementational level (e.g. computational complexity and data transfer between system modules) is indispensable. This paper introduces an integrated system structure comprising global path planning, local collision avoidance and motion control. Basic ideas for each module and considerations for suitable module interaction are presented. The intention is to enhance the understanding of the complex problem of path control of mobile robots.

Item URL in elib:https://elib.dlr.de/28038/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1993,
Title:An integrated system structure for the path control of mobile robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Journal or Publication Title:Autonome Mobile Systeme
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 239-250
Publisher:TU Muenchen, Lehrstuhl fuer Steuerungs- und Regelungstechnik
Event Title:9. Fachgespraech an der TU Muenchen
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W RP - Raumtransport
DLR - Research area:UNSPECIFIED
DLR - Program:W RP - Raumtransport
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:52

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