A survey on localization, mapping, and trajectory planning for quadruped robots in vineyards

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2022

Autores

Ferreira, J (Autor) Outra; António Paulo Moreira (Autor) FEUP; Silva, M (Autor) Outra; Filipe Neves Santos (Autor) FEUP

Ata de Conferência Internacional

Título: IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2022, Santa Maria da Feira, Portugal, April 29-30, 2022

Páginas: 237-242

Indexação

ISI Web of Knowledge - 10 Citações

Scopus - 15 Citações

Outras Informações

ID Authenticus: P-00W-KW6

DOI: 10.1109/icarsc55462.2022.9784796

Abstract (EN): In recent years, there has been great interest from researchers in legged robots. These robots have unique characteristics and are suitable for complex working environments with uneven terrains and unexpected obstacles. They can work on almost any type of terrain, overcome obstacles like stairs much more efficiently than wheeled or tracked robots, and cause a lower impact on the ground when compared with other locomotion systems. To expand the application of robotics to new complex areas, it is essential to accurately locate the robot and plan safe trajectories regardless of the environment, terrain, or weather conditions. Using a legged locomotion system raises some concerns regarding the 3D localization, mapping, and trajectory planning algorithms. This paper reviews those problems and describes the current approaches to localize a robot, map an environment and plan safe trajectories for quadruped robots.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6