The CyCab: a car-like robot navigating autonomously and safely among pedestrians

Cédric Pradalier 1 Jorje Hermosillo 1 Carla Koike 1 Christophe Braillon 1 Pierre Bessiere 1 Christian Laugier 1
1 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous localisation and environment modelling, motion planning and motion execution amidst moderately dynamic obstacles. In this paper we address the integration of these four essential autonomy abilities into a single application. Specifically, we aim at reactive execution of planned motion. We address the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques.
Type de document :
Article dans une revue
Robotics and Autonomous Systems, Elsevier, 2005, 50, 50 (1), pp.51-68
Liste complète des métadonnées

Littérature citée [28 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00182049
Contributeur : Christian Laugier <>
Soumis le : mardi 30 octobre 2007 - 20:08:06
Dernière modification le : mercredi 17 janvier 2018 - 10:44:41
Document(s) archivé(s) le : lundi 12 avril 2010 - 00:33:21

Fichier

J-RAS-Pradalier-Hermosillo.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00182049, version 1

Collections

INRIA | UGA | IMAG

Citation

Cédric Pradalier, Jorje Hermosillo, Carla Koike, Christophe Braillon, Pierre Bessiere, et al.. The CyCab: a car-like robot navigating autonomously and safely among pedestrians. Robotics and Autonomous Systems, Elsevier, 2005, 50, 50 (1), pp.51-68. 〈inria-00182049〉

Partager

Métriques

Consultations de la notice

330

Téléchargements de fichiers

512