Behaviour-Based Off-Road Robot Navigation

Abstract

This paper describes concepts for the control of the autonomous off-road vehicle ravon. The complexity of the target environment comprising rough terrain as well as vegetation requires capabilities reaching from low-level safety aspects to high-level planning. It is shown how the modular implementation using the behaviour-based architecture iB2C allows for the realisation of complex behaviour networks based on a concept for the uniform representation of sensor data. The effectiveness of the presented approach is briefly shown in a real-world experiment.