Nouranics

Nouranics

About this blog

Here you can find information about the things I work with, details of publications, projects, my resume, and software I have written as well slides from the subjects I used to teach.

Practical Path Planning and Obstacle Avoidance for Autonomous Mowing

PublicationsPosted by navid nourani Fri, January 27, 2012 09:05:26

Authors

Navid Nourani-Vatani, Michael Bosse, Jonathan Roberts and Matthew Dunbabin

Publication Date

December 2006

Conference Name & Place

Australasian Conference on Robotics and Automation (ACRA), Auckland, New Zealand

Abstract

There is a need for systems which can autonomously perform coverage tasks on large outdoor areas. Unfortunately, the state-of-the art is to use GPS based localization, which is not suitable for precise operations near trees and other obstructions. In this paper we present a robotic platform for autonomous coverage tasks. The system architecture integrates laser based localization and mapping using the Atlas Framework with Rapidly-Exploring Random Trees path planning and Virtual Force Field obstacle avoidance. We demonstrate the performance of the system in simulation as well as with real world experiments.

Video

Paper

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