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Poster De Conférence Année : 2018

Reliable navigation planning implementation on a two-wheeled mobile robot

Elise Crépon
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Résumé

—Autonomous mobile robots must be equipped with appropriate planification and control navigation systems in order to obtain robust behaviours. This study aims at dealing with this kind of problems when implementing on a two wheeled mobile robot. The planning navigation system uses our previously proposed reliable and safe navigation planning algorithm based on the incremental sampling-based planning algorithm, e.g., the widely-used Rapidly-exploring Random Tree (RRT), while the control navigation level consists in a go to goal controller strategy. Through experiments, we demonstrate the usefulness of robust navigation planner in an autonomous navigation schemes, where uncertain localization has to be taken into account.
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Dates et versions

hal-01737026 , version 1 (19-03-2018)

Identifiants

Citer

Elise Crépon, Adina M Panchea, Alexandre Chapoutot. Reliable navigation planning implementation on a two-wheeled mobile robot. The Second IEEE International Conference on Robotic Computing, Jan 2018, Laguna Hills, California, United States. , 2018, ⟨10.1109/IRC.2018.00035⟩. ⟨hal-01737026⟩
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