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

• Type: Article in International Conference Proceedings Book
• Date: 2022

Authors

Ferreira, J (Author) Other; António Paulo Moreira (Author) FEUP; Silva, M (Author) Other; Filipe Neves Santos (Author) FEUP

Conference proceedings International

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

Pages: 237-242

Indexing

ISI Web of Knowledge - 10 Citations

Scopus - 15 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6