Practical path planning and obstacle avoidance for autonomous mowing

Nourani-Vatani, Navid, Bosse, Michael, Roberts, Jonathan, & Dunbabin, Matthew (2006) Practical path planning and obstacle avoidance for autonomous mowing. In Proceedings of the Australasian Conference on Robotics and Automation 2006, Auckland, New Zealand, pp. 1-9.

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There is a need for systems which can autonomously perform coverage tasks on large outdoor areas. Unfortunately, the state-of-the-art is to use GPS based localization, which is not suitable for precise operations near trees and other obstructions. In this paper we present a robotic platform for autonomous coverage tasks. The system architecture integrates laser based localization and mapping using the Atlas Framework with Rapidly-Exploring Random Trees path planning and Virtual Force Field obstacle avoidance. We demonstrate the performance of the system in simulation as well as with real world experiments.

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ID Code: 81682
Item Type: Conference Paper
Refereed: Yes
Keywords: Path planning, Rapidly-Exploring Random Forests, Atlas Framework, robotics, virtual forces
ISBN: 9780958758383
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2006 [please consult the authors]
Deposited On: 09 Feb 2015 00:55
Last Modified: 13 Feb 2015 03:54

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