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A Pose-Aware Path Planner for Wheeled Mobile Robots in Rough Terrain
Datum: 2016/07/06
Ort: P 1.4.17, 16:30 Uhr

Am Mittwoch, den 6. Juli 2016 hält Herr Dominic Jacobsmeyer um 16:30 Uhr im Raum P 1.4.17 einen Vortrag über seine Masterarbeit mit dem Titel:

A Pose-Aware Path Planner for Wheeled Mobile Robots in Rough Terrain


Nowadays, applications such as search and rescue or planetary exploration require autonomous mobile robots, that can perform difficult or dangerous missions without human intervention. Usually, the environment, the mobile robot moves through in order to carry out such tasks, is uneven and contains rough patches. Traditional path planners assume that the workspace is divided into free and occupied cells and the cost of travelling is only based on the path length. A safe path planner should consider the local properties of the traversed terrain while planning a path. Otherwise, the robot is prone to slippage or tip-over. This work will develop a novel path planner for a wheeled mobile robot, that considers the vehicle's stability within the planned path. By this means, unstable robot positions are avoided. As compared with existing techniques, this new approach will take into account the wheel-to-ground contact, which is an important stability measure for wheeled robots. Instead of elevation maps, which are commonly used in state of the art techniques, this work will compute a geometrical plane for each cell, which will yield a more accurate robot pose estimation.