WIT Press


Robust Trajectory For Mobile Robot

Price

Free (open access)

Paper DOI

10.2495/AIENG930351

Volume

1

Pages

9

Published

1993

Size

733 kb

Author(s)

A. Pruski & S. Rohmer

Abstract

Robust trajectory for mobile robot A. Pruski & S. Rohmer LAEI, University of Metz, 57045 Metz cedex 1, France ABSTRACT This paper deals with the problem of mobile path planning. We investigate the case for which the obstacle positions are well known but the mobile location is defined with uncertainties. We propose an algorithm which finds a robust path, if it exists, from a source point to a goal point for a non holonomic robot The proposed method is based on the Multivalue Coding model. INTRODUCTION Mobile robot path planning is a problem that is investigated by numerous research teams. The solutions proposed consider the problem either as purely geometrical [1][2][3], or include the mobile kinematic characteristics [4][5] or take into account the mobile [6] or the obstacles[7] location knowledge uncertainties. Most path planners consider that the mobile and obstacle uncertainties are taken into account by a navigation module that uses the environment and position sensor informati

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