Supporting Navigation Components
This chapter describes aspects of the robot system that are essential to its operation. However, these aspects are not the key focus of this book. Specifically, Section 1 describes a path planning approach; and Section 2 discusses the interface with an odometry and obstacle detection system. The odometry and obstacle detection system was developed separately by others in our Laboratory. The work presented here is an original implementation with some original algorithms, but also incorporates the use of some well-known methods.
KeywordsPath Planning Obstacle Avoidance Object Location Robot Motion Robot Position
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