Reliable navigation planning implementation on a two-wheeled mobile robot

Pierre André Crépon; Adina Marlena Panchea; Alexandre Chapoutot

doi:10.1109/IRC.2018.00035

Reliable navigation planning implementation on a two-wheeled mobile robot

Pierre André Crépon
, Adina Marlena Panchea
, Alexandre Chapoutot

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Autonomous mobile robots must be equipped with appropriate planification and control navigation systems in order to obtain robust behaviours. This study aims at dealing with this kind of problems when implementing on a two wheeled mobile robot. The planning navigation system uses our previously proposed reliable and safe navigation planning algorithm based on the incremental sampling-based planning algorithm, e.g., the widely-used Rapidly-exploring Random Tree (RRT), while the control navigation level consists in a go to goal controller strategy. Through experiments, we demonstrate the usefulness of robust navigation planner in an autonomous navigation schemes, where uncertain localization has to be taken into account.

Original language	English
Title of host publication	Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	173-174
Number of pages	2
ISBN (Electronic)	9781538646519
DOIs	https://doi.org/10.1109/IRC.2018.00035
Publication status	Published - 2 Apr 2018
Externally published	Yes
Event	2nd IEEE International Conference on Robotic Computing, IRC 2018 - Laguna Hills, United States Duration: 31 Jan 2018 → 2 Feb 2018

Publication series

Name	Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
Volume	2018-January

Conference

Conference	2nd IEEE International Conference on Robotic Computing, IRC 2018
Country/Territory	United States
City	Laguna Hills
Period	31/01/18 → 2/02/18

Keywords

Autonomous navigation
Interval analysis
Motion planning
Navigation planning
Validated numerical integration

Access to Document

10.1109/IRC.2018.00035

Cite this

Crépon, P. A., Panchea, A. M., & Chapoutot, A. (2018). Reliable navigation planning implementation on a two-wheeled mobile robot. In Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018 (pp. 173-174). (Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2018.00035

Crépon, Pierre André ; Panchea, Adina Marlena ; Chapoutot, Alexandre. / Reliable navigation planning implementation on a two-wheeled mobile robot. Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 173-174 (Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018).

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title = "Reliable navigation planning implementation on a two-wheeled mobile robot",

abstract = "Autonomous mobile robots must be equipped with appropriate planification and control navigation systems in order to obtain robust behaviours. This study aims at dealing with this kind of problems when implementing on a two wheeled mobile robot. The planning navigation system uses our previously proposed reliable and safe navigation planning algorithm based on the incremental sampling-based planning algorithm, e.g., the widely-used Rapidly-exploring Random Tree (RRT), while the control navigation level consists in a go to goal controller strategy. Through experiments, we demonstrate the usefulness of robust navigation planner in an autonomous navigation schemes, where uncertain localization has to be taken into account.",

keywords = "Autonomous navigation, Interval analysis, Motion planning, Navigation planning, Validated numerical integration",

author = "Cr{\'e}pon, \{Pierre Andr{\'e}\} and Panchea, \{Adina Marlena\} and Alexandre Chapoutot",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2nd IEEE International Conference on Robotic Computing, IRC 2018 ; Conference date: 31-01-2018 Through 02-02-2018",

year = "2018",

month = apr,

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doi = "10.1109/IRC.2018.00035",

language = "English",

series = "Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018",

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Crépon, PA, Panchea, AM & Chapoutot, A 2018, Reliable navigation planning implementation on a two-wheeled mobile robot. in Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018. Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 173-174, 2nd IEEE International Conference on Robotic Computing, IRC 2018, Laguna Hills, United States, 31/01/18. https://doi.org/10.1109/IRC.2018.00035

Reliable navigation planning implementation on a two-wheeled mobile robot. / Crépon, Pierre André; Panchea, Adina Marlena; Chapoutot, Alexandre.
Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 173-174 (Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Autonomous mobile robots must be equipped with appropriate planification and control navigation systems in order to obtain robust behaviours. This study aims at dealing with this kind of problems when implementing on a two wheeled mobile robot. The planning navigation system uses our previously proposed reliable and safe navigation planning algorithm based on the incremental sampling-based planning algorithm, e.g., the widely-used Rapidly-exploring Random Tree (RRT), while the control navigation level consists in a go to goal controller strategy. Through experiments, we demonstrate the usefulness of robust navigation planner in an autonomous navigation schemes, where uncertain localization has to be taken into account.

AB - Autonomous mobile robots must be equipped with appropriate planification and control navigation systems in order to obtain robust behaviours. This study aims at dealing with this kind of problems when implementing on a two wheeled mobile robot. The planning navigation system uses our previously proposed reliable and safe navigation planning algorithm based on the incremental sampling-based planning algorithm, e.g., the widely-used Rapidly-exploring Random Tree (RRT), while the control navigation level consists in a go to goal controller strategy. Through experiments, we demonstrate the usefulness of robust navigation planner in an autonomous navigation schemes, where uncertain localization has to be taken into account.

KW - Autonomous navigation

KW - Interval analysis

KW - Motion planning

KW - Navigation planning

KW - Validated numerical integration

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M3 - Conference contribution

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Crépon PA, Panchea AM, Chapoutot A. Reliable navigation planning implementation on a two-wheeled mobile robot. In Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 173-174. (Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018). doi: 10.1109/IRC.2018.00035

Reliable navigation planning implementation on a two-wheeled mobile robot

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