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WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

© IEEE International Conference on Automation, Quality and Testing, Robotics : 2008 : AQTR 2008, 2008, vol. 2, p. 304-309

IEEE

Author: Pacheco Valls, Lluís
Cufí i Solé, Xavier
Luo, Ningsu
Cobos Gutiérrez, Francisco Javier
Date: 2008
Abstract: Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria
Format: application/pdf
Citation: Pacheco, L., Cufi, X., Luo, N., i Cobos, J. (2008). WMR navigation using local potential field corridors and narrow local occupancy grid perception. IEEE International Conference on Automation, Quality and Testing, Robotics : 2008 : AQTR 2008, 2, 304-309. Recuperat 31 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4588844
ISBN: 978-1-4244-2576-1
Document access: http://hdl.handle.net/10256/2449
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/AQTR.2008.4588844
Articles publicats (D-ATC)
Is part of: © IEEE International Conference on Automation, Quality and Testing, Robotics : 2008 : AQTR 2008, 2008, vol. 2, p. 304-309
Rights: Tots els drets reservats
Subject: Robots mòbils -- Sistemes de control
Visió artificial (Robòtica)
Mobile robots -- Control systems
Robot vision
Title: WMR navigation using local potential field corridors and narrow local occupancy grid perception
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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