Sensor-Based Motion Planning for Car-Like Mobile Robots in Unknown Environments

Claudio Lanzoni 1 Abraham Sánchez Lopez 2 René Zapata 3
2 MOVIS
FCC BUAP - Facultad de Ciencias de la Computación [Puebla]
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This work deals with the sensor-based motion planning problem for car-like robots. Sensor-based versions of Lazy DRM and Lazy LRM are used to exploit the information obtained from sensors and to compute a feasible collision-free path. The algorithm tries to reach the goal, executing the local method in the known free region. If it succeeds, a path to the goal is found and the algorithm finishes. Otherwise, the algorithm executes more scans to extend its free space, an so on. We have performed some simulations that show the promise of our approach.
Type de document :
Communication dans un congrès
ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. IEEE, pp.4258-4263, 2003, ThE2: Mobile Robot Systems. 〈10.1109/ROBOT.2003.1242258〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269759
Contributeur : Christine Carvalho de Matos <>
Soumis le : jeudi 3 avril 2008 - 08:22:41
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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Claudio Lanzoni, Abraham Sánchez Lopez, René Zapata. Sensor-Based Motion Planning for Car-Like Mobile Robots in Unknown Environments. ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. IEEE, pp.4258-4263, 2003, ThE2: Mobile Robot Systems. 〈10.1109/ROBOT.2003.1242258〉. 〈lirmm-00269759〉

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