TY - GEN
T1 - Reliable motion plannning for a mobile robot
AU - Crepon, Pierre Andre
AU - Panchea, Adina Marlena
AU - Chapoutot, Alexandre
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/4/2
Y1 - 2018/4/2
N2 - Autonomous mobile robots need to be equipped with appropriate planification and control navigation systems in order to obtain safe behaviours. This study aims at implementing on a two wheeled mobile robot a robust autonomous navigation planning algorithm, which guarantees a safe and reliable path. By making use of all facilities which the robot operating system (ROS) middleware and the open motion planning library (OMPL) can offer, we implement on a mobile robot platform an autonomous architecture adapted to our problem. The planning navigation system makes use of the widely-used Rapidly-exploring Random Tree (RRT) algorithm, while the control navigation level is based on the go-to-goal strategy. As a novelty, our previously proposed reliable and safe navigation planning algorithm based on RRT principles and solved in an interval analysis framework, e.g., BoxRRT, is tested on a mobile robot platform. Through experiments, the interest of using such a robust navigation planner on an autonomous navigation architecture with uncertain localization is presented.
AB - Autonomous mobile robots need to be equipped with appropriate planification and control navigation systems in order to obtain safe behaviours. This study aims at implementing on a two wheeled mobile robot a robust autonomous navigation planning algorithm, which guarantees a safe and reliable path. By making use of all facilities which the robot operating system (ROS) middleware and the open motion planning library (OMPL) can offer, we implement on a mobile robot platform an autonomous architecture adapted to our problem. The planning navigation system makes use of the widely-used Rapidly-exploring Random Tree (RRT) algorithm, while the control navigation level is based on the go-to-goal strategy. As a novelty, our previously proposed reliable and safe navigation planning algorithm based on RRT principles and solved in an interval analysis framework, e.g., BoxRRT, is tested on a mobile robot platform. Through experiments, the interest of using such a robust navigation planner on an autonomous navigation architecture with uncertain localization is presented.
KW - guaranteed numerical integration
KW - interval analysis
KW - motion planning
KW - robotic platform
U2 - 10.1109/IRC.2018.00085
DO - 10.1109/IRC.2018.00085
M3 - Conference contribution
AN - SCOPUS:85049623804
T3 - Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
SP - 413
EP - 418
BT - Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Conference on Robotic Computing, IRC 2018
Y2 - 31 January 2018 through 2 February 2018
ER -