WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the...

ver descrição completa

Detalhes bibliográficos
Autores: Pacheco Valls, Lluís, Cufí i Solé, Xavier, Luo, Ningsu, Cobos Gutiérrez, Francisco Javier
Tipo de documento: artigo
Data de publicação:2008
País:España
Recursos:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositório:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/2449
Acesso em linha:http://hdl.handle.net/10256/2449
Access Level:Acceso aberto
Palavra-chave:Robots mòbils -- Sistemes de control
Visió artificial (Robòtica)
Mobile robots -- Control systems
Robot vision
id ES_dc4e6374beb974e0d03ce8db7b27d591
oai_identifier_str oai:recercat.cat:10256/2449
network_acronym_str ES
network_name_str España
repository_id_str
spelling WMR navigation using local potential field corridors and narrow local occupancy grid perceptionPacheco Valls, LluísCufí i Solé, XavierLuo, NingsuCobos Gutiérrez, Francisco JavierRobots mòbils -- Sistemes de controlVisió artificial (Robòtica)Mobile robots -- Control systemsRobot visionPath planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteriaIEEE2008info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10256/2449http://hdl.handle.net/10256/2449© IEEE International Conference on Automation, Quality and Testing, Robotics : 2008 : AQTR 2008, 2008, vol. 2, p. 304-309Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.1109/AQTR.2008.4588844info:eu-repo/semantics/altIdentifier/isbn/978-1-4244-2576-1Tots els drets reservatsinfo:eu-repo/semantics/openAccessoai:recercat.cat:10256/24492026-05-29T05:05:01Z
dc.title.none.fl_str_mv WMR navigation using local potential field corridors and narrow local occupancy grid perception
title WMR navigation using local potential field corridors and narrow local occupancy grid perception
spellingShingle WMR navigation using local potential field corridors and narrow local occupancy grid perception
Pacheco Valls, Lluís
Robots mòbils -- Sistemes de control
Visió artificial (Robòtica)
Mobile robots -- Control systems
Robot vision
title_short WMR navigation using local potential field corridors and narrow local occupancy grid perception
title_full WMR navigation using local potential field corridors and narrow local occupancy grid perception
title_fullStr WMR navigation using local potential field corridors and narrow local occupancy grid perception
title_full_unstemmed WMR navigation using local potential field corridors and narrow local occupancy grid perception
title_sort WMR navigation using local potential field corridors and narrow local occupancy grid perception
dc.creator.none.fl_str_mv Pacheco Valls, Lluís
Cufí i Solé, Xavier
Luo, Ningsu
Cobos Gutiérrez, Francisco Javier
author Pacheco Valls, Lluís
author_facet Pacheco Valls, Lluís
Cufí i Solé, Xavier
Luo, Ningsu
Cobos Gutiérrez, Francisco Javier
author_role author
author2 Cufí i Solé, Xavier
Luo, Ningsu
Cobos Gutiérrez, Francisco Javier
author2_role author
author
author
dc.subject.none.fl_str_mv Robots mòbils -- Sistemes de control
Visió artificial (Robòtica)
Mobile robots -- Control systems
Robot vision
topic Robots mòbils -- Sistemes de control
Visió artificial (Robòtica)
Mobile robots -- Control systems
Robot vision
description Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria
publishDate 2008
dc.date.none.fl_str_mv 2008
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/2449
http://hdl.handle.net/10256/2449
url http://hdl.handle.net/10256/2449
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/AQTR.2008.4588844
info:eu-repo/semantics/altIdentifier/isbn/978-1-4244-2576-1
dc.rights.none.fl_str_mv Tots els drets reservats
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Tots els drets reservats
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv © IEEE International Conference on Automation, Quality and Testing, Robotics : 2008 : AQTR 2008, 2008, vol. 2, p. 304-309
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869421756848013312
score 15,811543

Registros relacionados