Abstract
Autonomously navigating a robot in an unknown scene comprises tasks such as mapping and localization from the percepts via sensors, safe motion-planning under partial knowledge of the scene, and finally, plan execution using the available motion primitives of the robot. Though many software systems are available for these sub-tasks, there is a lack of integrated software that support autonomous navigation. In this paper, we present an integrated software framework comprising of simultaneous localization and mapping module using visual odometry, a motion-planning module based on constraint-solving, and a plan-execution module particularly designed for a lizard-inspired quadruped robot. To demonstrate its efficacy, we present a number of navigation tasks to the software framework in various indoor simulation settings together with a model of the lizard-inspired quadruped robot and show the results.
| Originalsprog | Engelsk |
|---|---|
| Titel | 2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021 |
| Forlag | IEEE |
| Publikationsdato | 20. sep. 2021 |
| Sider | 345-350 |
| ISBN (Elektronisk) | 9781665433235 |
| DOI | |
| Status | Udgivet - 20. sep. 2021 |
| Udgivet eksternt | Ja |
| Begivenhed | 2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021 - Goa, Indien Varighed: 20. sep. 2021 → 22. sep. 2021 |
Konference
| Konference | 2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation, IRIA 2021 |
|---|---|
| Land/Område | Indien |
| By | Goa |
| Periode | 20/09/2021 → 22/09/2021 |
Bibliografisk note
Funding Information:This work is partially supported by the IMPRINT-2 Project (IMP/2018/000523) from the Science and Engineering Re- search Board (SERB), Department of Science and Technology, Government of India.
Publisher Copyright:
© 2021 IEEE.