Path planning with uncertainty for car-like robots

被引：0

作者：

Fraichard, T ^{[1
]}

Mermond, R ^{[1
]}

机构：

[1] INRIA Rhone Alpes & Gravir, F-38330 Montbonnot St Martin, France

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the first path planner taking into account both non-holonomic and uncertainty constraints. The case of a car-like robot subject to cumulative and unbounded configuration uncertainty related to bounded control and sensing errors is considered. Assuming the existence of landmarks allowing the robot to relocalize itself in particular places, we present an algorithm that computes paths that are both feasible and robust. la other words, they respect the non-holonomic constraints of a car-like robot and the robot is assured to reach its goal by following them as long as its control and sensing errors remain within bounded sets.

引用

页码：27 / 32

页数：4