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.
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.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.
|Item Type:||Conference Paper|
|Keywords:||Path planning, Rapidly-Exploring Random Forests, Atlas Framework, robotics, virtual forces|
|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|
Repository Staff Only: item control page