Planning sensor-based motions for mobile robot navigation
Résumé
Motion planning and control are two important aspects for mobile robot navigation. They are often considered as two separate phases, leading to a lack of robustness when experimented in real world settings. The objective of the presented approach is to bridge the gap between motion planning and motion control. Motion planning is performed in terms of closed-loop sensor-based primitives rather than in terms of a geometric path whose execution is more sensitive to perception and motion uncertainties. Experiments performed with the Hilare2 mobile robot show the effectiveness of the algorithms for achieving robust navigation in a priori known indoors environments.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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