NAVIGATION ARCHITECTURE FOR THE RESOLV MOBILE ROBOT

摘要

: The RESOLV project requires a mobile robot to robustly move in partially or totally unknown environments. The robot needs to be autonomous and accomplish remote high level orders sent by a user or a computer application. This paper describes a multi-loop, modular navigation architecture adapted for this robot but usable on other platforms. A clear separation between local and global navigation is proposed. Both can run independently, but with an adequate alternation/competition between them trajectory execution is achieved successfully. That includes avoidance of unknown or, to a given extent, dynamic obstacles. Keywords: Navigation Architecture, Mobile Robots, Perception Maps, Clothoids. * This work was supported by the project RESOLV-Reconstruction using Scanned Laser and Video of the ACTS Programme, EU. 1. INTRODUCTION The navigation architecture described in this paper is implemented on the AEST (Autonomous Environment Sensor for Telepresence) mobile platform displaye...