4
2012.
Development of an autonomous rough-terrain robot
In this paper, we discuss the development process of a mobile robot intended for environmental observation applications. The paper describes how a standard tele-operated Explosive Ordnance Disposal (EOD) robot was upgraded with electronics, sensors, computing power and autonomous capabilities, such that it becomes able to execute semi-autonomous missions, e.g. for search & rescue or humanitarian demining tasks. The aim of this paper is not to discuss the details of the navigation algorithms (as these are often task-dependent), but more to concentrate on the development of the platform and its control architecture as a whole.