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

Laboratoire d'Informatique (LIX)
ENSTA ParisTech

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

Résumé

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.

langue originale	Anglais
titre	Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
Editeur	Institute of Electrical and Electronics Engineers Inc.
Pages	173-174
Nombre de pages	2
ISBN (Electronique)	9781538646519
Les DOIs	https://doi.org/10.1109/IRC.2018.00035
état	Publié - 2 avr. 2018
Modification externe	Oui
Evénement	2nd IEEE International Conference on Robotic Computing, IRC 2018 - Laguna Hills, États-Unis Durée: 31 janv. 2018 → 2 févr. 2018

Série de publications

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

Une conférence

Une conférence	2nd IEEE International Conference on Robotic Computing, IRC 2018
Pays/Territoire	États-Unis
La ville	Laguna Hills
période	31/01/18 → 2/02/18

Accès au document

10.1109/IRC.2018.00035

Contient cette citation

Crépon, P. A., Panchea, A. M., & Chapoutot, A. (2018). Reliable navigation planning implementation on a two-wheeled mobile robot. Dans Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018 (p. 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. p. 173-174 (Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018).

@inproceedings{2b5e6e0bfe95429d952564fb4d830b59,

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",

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day = "2",

doi = "10.1109/IRC.2018.00035",

language = "English",

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

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Crépon, PA, Panchea, AM & Chapoutot, A 2018, Reliable navigation planning implementation on a two-wheeled mobile robot. Dans 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., p. 173-174, 2nd IEEE International Conference on Robotic Computing, IRC 2018, Laguna Hills, États-Unis, 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).

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

TY - GEN

T1 - Reliable navigation planning implementation on a two-wheeled mobile robot

AU - Crépon, Pierre André

AU - Panchea, Adina Marlena

AU - Chapoutot, Alexandre

PY - 2018/4/2

Y1 - 2018/4/2

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

U2 - 10.1109/IRC.2018.00035

DO - 10.1109/IRC.2018.00035

M3 - Conference contribution

AN - SCOPUS:85049645465

T3 - Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018

SP - 173

EP - 174

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 -

Crépon PA, Panchea AM, Chapoutot A. Reliable navigation planning implementation on a two-wheeled mobile robot. Dans 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

Résumé

Série de publications

Une conférence

Accès au document

Empreinte digitale

Contient cette citation