Local perception and navigation for mobile robots
We review the main features of the software architectures of current mobile robot systems, giving special attention to the role of the perception system, and to the spatial representations used. We also mention some of the debate on world modeling and multisensor fusion issues that is presently going on.
Then we address the particular case of outdoor applications in partially unknown and partially unpredictable environments, and present our views about the development of an efficient perception system for these types of application.
KeywordsMobile Robot Navigation System Path Planning Software Architecture Obstacle Avoidance
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