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It is necessary for the special service robot to have some parts of autonomous mobility which include local path planning, obstacle detection and avoidance. This work focuses on navigation strategy to overcome rough terrains for the miniature wheel-track hybrid mobile robot platform developed in the previous work. The navigation strategy describes determination of track attack angle and local path...
Various robot platforms are used for tasks in a variety of disaster fields. For public safety in some urban environments, a novel wheel and track hybrid robot platform which is able to perform fast navigation in flatland and stairs is developed. For its applicability on various environments, we devised a transformable track structure which can climb stairs and navigate the flat floor rapidly. The...
This paper presents a path planning algorithm for a fast mobile robot based on extended Kalman filter (EKF) by fusing the satellite navigation and the vision system in the outdoor environment. The suggested approach offers several improvements that result in smoother trajectories and greater reliability. The noisy location information of a robot is enhanced by using the vision system which contain...
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