Sensor-based motion planning and control for the HILARE mobile robot

Abstract

This paper presents the algorithms that have been developed and integrated onto the HILARE 2 mobile robot for achieving robust navigation, in presence of control and sensing errors, in an a priori known office-like environment. The mobile robot is equipped with a belt of 32 sonars and a laser range finder. Sonar data are used for the wall-following, move to contact and parallel actions. The laser is used for edge detection and matching during a wall-following. A VME rack supporting 6 CPU boards of the Motorola 680x0 family is mounted on the robot running under the VxWorks real-time system.