Sensor information space for robust mobile robot path planning

Authors:
A. Pruski;A. Atassi
Affiliations:
Laboratoire d'Automatique des systèmes coopératifs (LASC), Université de Metz, Ile du Saulcy, BP80794, 57012 Metz (France) Alain.Pruski@lasc.univ-metz.fr;Laboratoire d'Automatique des systèmes coopératifs (LASC), Université de Metz, Ile du Saulcy, BP80794, 57012 Metz (France)
Venue:
Robotica
Year:
2000

Citing 3
Cited 1

Robot motion planning with uncertainty in control and sensing

Artificial Intelligence
Planning the Motions of a Mobile Robot in a Sensory Uncertainty Field

IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Motion Planning

Robot Motion Planning

A cell-based sensor deployment strategy with improved coverage for mobility-assisted hybrid wireless sensor networks

International Journal of Ad Hoc and Ubiquitous Computing

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Abstract

This paper introduces a new approach to robust path planning for mobile robots entirely based on information from environment perception sensors. This method avoids the use of odometry which leads to the accumulation of errors resulting from the robot's position computing. We proceed as follows: we create regions inside which the robot detects the same obstacle segments. A node graph represents all the regions and their links. Then a planning algorithm is used to find a path which joins a start to a goal region. The final stage consists in applying a robust robot motion control as regards the uncertainties of the environment model. This approach contributes to a control system for indoor robots which is environment referenced. The sensors we deal with are first a continuous laser or ultrasonic scanning system, then a discrete ultrasonic belt whose limits of use we show.