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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

IEEE

Autor: Pacheco Valls, Lluís
Luo, Ningsu
Cufí Solé, Xavier
Cobos Gutiérrez, Francisco Javier
Resum: 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
Accés al document: http://hdl.handle.net/2072/62976
Llenguatge: eng
Editor: IEEE
Drets: Tots els drets reservats
Matèria: Robots mòbils -- Sistemes de control
Control predictiu
Sistema de posicionament global
Global Positioning System
Mobile robots -- Control systems
Predictive control
Títol: Local WMR navigation with monocular data
Tipus: info:eu-repo/semantics/article
Repositori: Recercat

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