Evolutionnary stair climbing controler for Unmanned Ground Vehicles

Abstract This paper presents a way to autonomously climb staircases with vehicles able to move their centre of gravity by changing their geometry. Grounded vehicles are categorised and a new architecture developed in our laboratory is described. After a survey about existing autonomous staircase clearing systems we propose a different approach based on a genetic training which control the adaptation of the robot to the ground during the climbing.

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