BEHAVIOR-BASED OBSTACLE DETECTION AND AVOIDANCE SYSTEM FOR THE OMNIDIRECTIONAL WALL-CLIMBING ROBOT CROMSCI

摘要

Large vertical concrete structures are still a great challenge for autonomous climbing robots, which should be able to perform different service tasks like inspection or coating of the rough surface. With the behavior-based obstacle avoidance system of our robot Cromsci this paper presents a step towards such an autonomous climbing system. Main problems arise from a limited payload for environmental sensor systems. Therefore a special sensor setup and internal representation of the environment has to be found. In this paper we will show the overall structure of our climbing robot Cromsci using negative pressure adhesion and omnidirectional wheels for locomotion and focus on its sensor systems and the behavior-based components for obstacle avoidance.