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Indoor navigation with uncertainty using sensor-based motions

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4 Author(s)
Khatib, M. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Bouilly, B. ; Simeon, T. ; Chatila, R.

This paper presents on 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 field approach are developed. These various elements are integrated in a system that actually generates the motions of the Hilare2 mobile robot

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997