Local navigation and real-time obstacle avoidance system for an autonomous mobile robot.

Abstract

Mobile robot's task execution system can be organized around a 3 components knowledge base. Autonomous navigation, a subsystem of task execution, requires several processes to run concurrently in order to allow continuous vehicle motion. These issues are presented, with emphasis on the local navigation system developped for MORSE (Mobile Robot for Services Execution). On line planning procedures and real time task coordination are described.