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Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

© 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 2009, p. 584-589

IEEE

Author: Pacheco Valls, Lluís
Luo, Ningsu
Cufí i Solé, Xavier
Cobos Gutiérrez, Francisco Javier
Date: 2009
Abstract: This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot
Format: application/pdf
Citation: Pacheco, L., Luo, N., Cufi, X., i Cobos, J. (2009). Local WMR navigation with monocular data. 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 584-589. Recuperat 31 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4804027
ISBN: 978-1-4244-2712-3
Document access: http://hdl.handle.net/10256/2450
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ICARA.2000.4804027
Articles publicats (D-ATC)
Is part of: © 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 2009, p. 584-589
Rights: Tots els drets reservats
Subject: Robots mòbils -- Sistemes de control
Control predictiu
Sistema de posicionament global
Global Positioning System
Mobile robots -- Control systems
Predictive control
Title: Local WMR navigation with monocular data
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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