Sensor-landmark motion planning in mobile robots

A.C. Malti, F. Lamiraux, M. Taix
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)  
The robust execution of a planned trajectory is a critical issue in robotics. In this paper, we set the formal basis for a sensor-landmark-based motion planning approach. Our approach deals with inaccuracy of the map of the environment by producing motion features composed of a reference trajectory and of a set of pairs sensorlandmark over which the robot will control its motion. These motion features define along the trajectory closed-loop motion strategies for the robot. This approach enables
more » ... us to produce secure motions by putting emphasis on landmarks that can represent a danger of collision. Our contribution is to state the problem in a generic formalism and to propose some simulations that show the relevance of our resolution approach.
doi:10.1109/iros.2004.1389680 dblp:conf/iros/MaltiLT04 fatcat:n2q7qwgpufcyfedbbf4thrcq7i