Integrating uncertainty and landmarks in path planning for car-like robots

被引：0

作者：

Fraichard, T ^{[1
]}

Mermond, R ^{[1
]}

机构：

[1] Inria Rhone Alpes & Gravir, F-38330 Montbonnot St Martin, France

来源：

INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98) | 1998年

关键词：

vehicle; mobile-robot; path-planning; kinematics; uncertainty;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the first path planner taking into account both non-holonomic and uncertainty constraints, The case of a car-like robot equipped with a relative localization system and therefore subject to uncertainty on its configuration is considered. Assuming the existence of landmarks allowing the robot to relocalize itself in particular places, me present an algorithm that computes paths that are both feasible and robust. in other words, they respect the non-holonomic constraints of a car-lire robot and the robot is assured to reach its goal by following them no matter what its control and sensing errors are. Copyright (C) 1998 IFAC.

引用

页码：135 / 140

页数：6

共 50 条

[1] Path planning with uncertainty for car-like robots
Fraichard, T
Mermond, R
[J]. 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 27 - 32
[2] Path Planning and Control of Differential and Car-like Robots in Narrow Environments
Nagy, Akos
Csorvasi, Gabor
Kiss, Domokos
[J]. 2015 IEEE 13TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI), 2015, : 103 - 108
[3] Planning safe paths for nonholonomic car-like robots navigating through computed landmarks
Fraichard, T
Lambert, A
[J]. INTELLIGENT AUTONOMOUS SYSTEMS 6, 2000, : 447 - 454
[4] A geometric path planner for car-like robots
Chen, SF
Deng, JS
[J]. JOURNAL OF MECHANICAL DESIGN, 2000, 122 (03) : 343 - 346
[5] Motion planning for unicycle and car-like robots
Conte, G
Longhi, S
Zulli, R
[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1996, 27 (08) : 791 - 798
[6] Path planning for car-like robots using global analysis and local evaluation
Jiang, K
Seneviratne, LD
Earles, SWE
[J]. ETFA '96 - 1996 IEEE CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, PROCEEDINGS, VOLS 1 AND 2, 1996, : 482 - 488
[7] Path planning with steering sets for car-like robots and finding an effective set
Suzuki, Yumiko
Kagami, Satoshi
Kuffner, James J.
[J]. 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 1221 - +
[8] Path planning for nonholonomic car-like mobile robots using genetic algorithms
Cheng, Weiming
Tang, Zhenmin
Zhao, Chunxia
Tang, Lei
Guo, Zhibo
[J]. 2006 8TH INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, VOLS 1-4, 2006, : 3183 - +
[9] Path planning system for car-like robot
Kreczmer, B
[J]. 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 40 - 45
[10] Complexity and path planning for a car-like robot
Romero-Meléndez, C
Monroy-Pérez, F
Vázquez-González, B
[J]. 2005 2ND INTERNATIONAL CONFERENCE ON ELECTRICAL & ELECTRONICS ENGINEERING (ICEEE), 2005, : 463 - 466

← 1 2 3 4 5 →