R. Caracciolo, A. Gasparetto
"RoboNav": A Flexible User Friendly System for Navigation of an Autonomous Vehicle in Factory Environments
Proc. of the Second ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, 26-28 Sept. 1996

Abstract: This paper describes a system for navigation of an autonomous vehicle, named "RoboNav". The main features of the system are: flexibility, easiness of use and reasonably low cost. The system is intended to be suitable for practical applications, especially in factory environments. The system is composed of a trajectory planning module, implemented off board, and an on board control module, which manages the vehicle motion and handles irregular situations. The two modules are linked via radio modem. A low cost device for estimation of the vehicle position, based on a laser sensor, was designed and realized, and successfully integrated into the overall navigation system. The "RoboNav" system was finally tested in a narrow environment, and it turned out to meet all the design requirements.

Area: Robotica

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