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Article Dans Une Revue Advanced Robotics Année : 2011

A General Framework for Planning Landmark-Based Motions for Mobile Robots

Résumé

Our work is focused on defining a generic approach for planning landmark based motion. The proposed geometric approach deals with robots of complex kinematic moving in cluttered environment. It aims at providing safe strategy of motion for such constrained conditions. The proposed method selects automatically the most relevant landmarks along a pre-planned geometric path. It proposes a strategy to correct the trajectory and to smoothly switch among the landmarks of the environment. Experimental results highlight the relevance of the proposed formalism.
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Dates et versions

hal-01537687 , version 1 (12-06-2017)

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Abed Malti, Florent Lamiraux, Michel Taïx. A General Framework for Planning Landmark-Based Motions for Mobile Robots. Advanced Robotics, 2011, 25 (11-12), pp.1427-1450 ⟨10.1163/016918611X579457⟩. ⟨hal-01537687⟩
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