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Improvement of convergence to goal for wheeled mobile robot using parking motion

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6 Author(s)
H. An ; Fac. of Eng., Osaka Electro-Commun. Univ., Japan ; T. Yoshino ; D. Kashimoto ; M. Okubo
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We have developed an online path planning algorithm that directs an autonomous mobile robot called a nonholonomic robot to a goal while avoiding obstacles in an uncertain world. The developed autonomous mobile robot runs on two wheels and is equipped with a visual sensor (CCD) camera having a restricted view field. In addition, this robot identifies its self-position with dead-reckoning by a wheel measuring a running distance. We propose an algorithm for the mobile robot that improves the convergence to a goal using a parking motion

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

1999