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A sensor-based motion planner for mobile robot navigation with uncertainty

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Reasoning with Uncertainty in Robotics (RUR 1995)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1093))

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Abstract

This paper presents a method for planning the motions of a mobile robot navigating in a known environment with uncertainty in control and sensing. The robot is equipped with sensors which, if properly used, may provide information to overcome the uncertainty accumulated during the motions. The planner produces robust motion strategies composed of sensor-based motion commands which guarantee that the robot can reach the goal with an error lower than a pre-specified value. Relocalizations can occur in landmark regions or by matching detected features of the environment against the workspace model. The approach is based on a numerical potential field function for propagating the position uncertainty. A geometric analysis of the workspace is also performed in order to generate relocalization strategies on obstacles. We present at the end of the paper several examples run with the planner illustrating some of its capabilities.

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Authors and Affiliations

  1. LAAS-CNRS, 7 Avenue du Colonel Roche, 31077, Toulouse Cedex, France

    B. Bouilly & T. Siméon

Authors
  1. B. Bouilly
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  2. T. Siméon
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Editor information

Leo Dorst Michiel van Lambalgen Frans Voorbraak

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© 1996 Springer-Verlag Berlin Heidelberg

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Bouilly, B., Siméon, T. (1996). A sensor-based motion planner for mobile robot navigation with uncertainty. In: Dorst, L., van Lambalgen, M., Voorbraak, F. (eds) Reasoning with Uncertainty in Robotics. RUR 1995. Lecture Notes in Computer Science, vol 1093. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0013964

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  • DOI: https://doi.org/10.1007/BFb0013964

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-61376-3

  • Online ISBN: 978-3-540-68506-7

  • eBook Packages: Springer Book Archive

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