An Autonomous Car-Like Robot Navigating 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 transporlation system relies on a particular douhlesteering kinematic structure enhancing maneuverability in clulteml environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy Capacities, the hi-steerahle car ought to combine suitably and safely a se1 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 prohahilistic techniques.
Document type :
Conference papers
Complete list of metadatas

Cited literature [11 references]  Display  Hide  Download

https://hal.inria.fr/inria-00182052
Contributor : Christian Laugier <>
Submitted on : Wednesday, October 24, 2007 - 6:35:58 PM
Last modification on : Thursday, January 3, 2019 - 11:06:03 AM
Long-term archiving on : Monday, April 12, 2010 - 12:33:46 AM

File

PHKBBL04.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00182052, version 1

Collections

INRIA | UGA | IMAG

Citation

Cédric Pradalier, Jorje Hermosillo, Carla Koike, Christophe Braillon, Pierre Bessiere, et al.. An Autonomous Car-Like Robot Navigating Safely Among Pedestrians. Proc. of the IEEE Int. Conf. on Robotics and Automation, Apr 2004, New Orleans, LA (US), France. ⟨inria-00182052⟩

Share

Metrics

Record views

380

Files downloads

349