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Towards a real-time architecture for obstacle avoidance and path planning in mobile robots

Abstract:

The design and partial implementation of a real-time architecture for a mobile robot, aimed particularly towards a vehicle developed for factory automation, is described. The authors develop a layered design to equip the robot with a number of behavioral competences. They examine sensing and a potential field algorithm especially to achieve modification of behavior at a speed close to the robot's operational speed. It is shown how the layered architecture interfaces to the original onboard ar...

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Publisher:
Publ by IEEE
Pages:
584-589
Publication date:
1990-01-01
URN:
uuid:7ed1058a-e68a-4b0d-a540-777d90685593
Source identifiers:
324734
Local pid:
pubs:324734
Language:
English

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