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Communication Dans Un Congrès Année : 1997

Indoor Navigation with Uncertainty using Sensor-Based Motions

Résumé

This paper presents an operational framework to bridge the gap between planning with uncertainty and real-time sensor-based motion control. The environment being known, a planner produces a plan composed of free space and sensor-based motion commands. The representations of uncertainty and its evolution, environment landmarks, and actions generated at the planning level are discussed. Sensor-based actions and command definitions for a nonholonomic mobile robot based on a Task-Potential eld approach are developed. These various elements are integrated in a system that actually generates the motions of the Hilare2 mobile robot.
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Dates et versions

hal-04295423 , version 1 (20-11-2023)

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Maher Khatib, Bertrand Bouilly, Thierry Simeon, Raja Chatila. Indoor Navigation with Uncertainty using Sensor-Based Motions. IEEE International Conference on Robotics and Automation (ICRA 1997), Apr 1997, Albuquerque, United States. ⟨10.1109/ROBOT.1997.606804⟩. ⟨hal-04295423⟩
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