Referenced Items are not available for this document.
This paper reports on a recent work we have conducted concerning the development and the implementation of a robust motion planner for a mobile robot in a polygonal environment and in presence of uncertainty in robot control and sensing. Such a planner takes explicitly into account the uncertainty in robot control and produces a robust motion plan composed of sensor-based motion commands. The main originality of this approach is that it is able to account for a set of motion commands which may accumulate errors. It is based on a geometric analysis of the reachability and it generates motion strategies which may allow the robot to reduce its uncertainty
Published in:
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Date of Conference: 8-13 May 1994
- Page(s):
- 1312 - 1318 vol.2
- Meeting Date :
- 08 May 1994-13 May 1994
- Print ISBN:
- 0-8186-5330-2
- INSPEC Accession Number:
- 4818003
- Conference Location :
- San Diego, CA
- Digital Object Identifier :
- 10.1109/ROBOT.1994.351305
- Product Type:
- Conference Publications
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