Autonomous navigation based on a dynamic world representation
Maurizio Piaggio, Renato Zaccaria · 2002
In this paper we propose a real-time architecture for autonomous mobile robots. We describe the single components of the architecture that are responsible of data acquisition and representation navigation and obstacle avoidance. In particular we focus on the integration of the components in the architecture and on the mechanisms that allow the system to operate in real time. Some experimental results are illustrated.