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Peter Bechtel, Andreas Schatz, Lars Dieterle, Jürgen Adamy

Step Detection for Autonomous Mobile Robots

This paper presents a step detection system for mobile robots. It is used to prevent the robot from falling down steps during navigation. Regarding the general requirements a sensor system consisting of two types of infrared sensors and a step avoiding strategy was developed. This method can be applied to almost all wheel-based mobile robots. The system was designed to work without prior knowledge about the structure of the steps.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 51, 04/2003
Pages: 171

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