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Motion generation for a rover on rough terrains

Abstract : This article presents an algorithm that determines safe motions for an articulated rover on rough terrains. It relies on the evaluation of a set of elementary trajectories on a digital elevation map built as the rover moves. The algorithm relies on the explicit computation of geometric constraints on the rover chassis. It has been integrated within a continuously running navigation loop on board the robot Lama, and tested under various terrain conditions.
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Submitted on : Thursday, January 24, 2019 - 7:38:22 PM
Last modification on : Tuesday, October 25, 2022 - 11:58:10 AM


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  • HAL Id : hal-01993312, version 1


David Bonnafous, Simon Lacroix, Thierry Simeon. Motion generation for a rover on rough terrains. RSJ/IEEE International Conference on Intelligent Robots and Systems, Oct 2001, Maui, United States. pp.784-789. ⟨hal-01993312⟩



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