Mono Landmark Localization for an Autonomous Navigation of a Cooperative Mobile Robot Formation

Authors:
Hugues Sert;Annemarie Kökösy;Jorge Palos;Wilfrid Perruquetti
Affiliations:
ISEN, Lille Cedex, France 59 046 and LAGIS UMR CNRS 8146, BP 48, Cité Scientifique, Villeneuve-d'Ascq, Cedex, France 59651;ISEN, Lille Cedex, France 59 046 and LAGIS UMR CNRS 8146, BP 48, Cité Scientifique, Villeneuve-d'Ascq, Cedex, France 59651;ISEN, Lille Cedex, France 59 046;LAGIS UMR CNRS 8146, BP 48, Cité Scientifique, Villeneuve-d'Ascq, Cedex, France 59651 and ALIEN, INRIA Lille - Nord Europe Parc Scientifique de la Haute Borne 40, Villeneuve d'Ascq, France 59 ...
Venue:
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Year:
2009

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Abstract

In this paper the problem of the autonomous navigation of a cooperative robot formation is studied. Robots navigate in an unknown environment, encumbered by obstacles which have a circular shape or which can be modeled by polygons. Robots must move between an initial known position and a final known position. While going ahead robots discover the obstacles which block their passage and must avoid the collision and go to their final destination. This paper tackles two problems: 1 path planning, which is described as an optimal control problem under constraints (robot physical limits, collision avoidance). 1 localization, in order to plan its trajectory, the robot has to know its localization in the environment : a mono-landmark algorithm of localization in 2D is proposed. This mono-landmark algorithm tracks a landmark during the navigation and uses it to localize the robot in an algebraic framework.