Real-Time 3D Map Building for Local Navigation of a Walking Robot in Unstructured Terrain

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2003, Pages 2185-2190

  Gassmann B ^a   Frommberger, L ^a   Dillmann, R ^a   Berns, K ^b  

^a FZI RESEARCH CENTER FOR INFORMATION TECHNOLOGY   (Germany)

^b Rheinland Pfälzische Technische Universität Kaiserslautern Landau   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; DATA ACQUISITION; MOTION CONTROL; REAL TIME SYSTEMS; SENSORS;

HISTOGRAMS; WALKING ROBOTS;

ROBOTICS;

EID: 0348040369     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

1. E. Stuck, A. Manz, D. A. Green, and S. Elgazzar, "Map updating and path planning for real-time mobile robot navigation," in Proceedings of IEEE International Conference on Intelligent Robots and Systems, pp. 753-760, 1994.
2. E. Kruse, R. Gutsche, and F. M. Wahl, "Efficient, iterative, sensor based 3-D map building using rating functions in configuration space," in Proceedings of the IEEE Intelligent Conference on Robotics and Automation, vol. 2, pp. 1067-1072, 1996.
3. K. Murphy, M. Abrams, S. Balakirsky, T. Chang, T. Hong, A. Lacaze, and S. Legowik, "Intelligent control for off-road driving," in First International NAISO Congress on Autonomous Intelligent System (S. Nahavandi, ed.), Natural and Artificial Intelligence Systems Organization, 2002.
4. A. Elfes, "Using occupancy grids for mobile robot perception and navigation," Computer, vol. 22, no. 6, pp. 46-57, 1989.
5. T. Bihari, T. Walliser, and M. Paterson, "Controlling the adaptive suspension vehicle," Computer, vol. 22, 1989.
6. V. Kepplin and K. Berns, "A concept for walking behaviour in rough terrain," in Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR99), pp. 509-516, 1999.
7. S. Bai, K. H. Low, and M. Y. Teo, "Path generation of walking machines in 3D terrain," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2002.
8. B. Gassmann, K. Scholl, and K. Berns, "Locomotion of LAURON III in rough terrain," in International Conference on Advanced Intelligent Mechatronics, 2001.
9. J. Borenstein and Y. Koren, "The vector field histogram - fast obstacle avoidance for mobile robots," IEEE Transactions on Robotics and Automation, vol. 7, pp. 278-288, 1991.
10. J. Albiez, T. Luksch, K. Berns, and R. Dillmann, "A behaviour network concept for controlling walking machines," in Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, 2003.