Ítem
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Pacheco Valls, Lluís
Luo, Ningsu Cufí i Solé, Xavier Cobos Gutiérrez, Francisco Javier |
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| 2009 | |
| 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 | |
| application/pdf | |
| 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 | |
| 978-1-4244-2712-3 | |
| http://hdl.handle.net/10256/2450 | |
| eng | |
| IEEE | |
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ICARA.2000.4804027 Articles publicats (D-ATC) |
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| © 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 2009, p. 584-589 | |
| Tots els drets reservats | |
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Robots mòbils -- Sistemes de control
Control predictiu Sistema de posicionament global Global Positioning System Mobile robots -- Control systems Predictive control |
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| Local WMR navigation with monocular data | |
| info:eu-repo/semantics/article | |
| DUGiDocs |
