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Conference Papers Year : 2004

An Autonomous Car-Like Robot Navigating Safely Among Pedestrians

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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.
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inria-00182052 , version 1 (24-10-2007)


  • HAL Id : inria-00182052 , version 1


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⟩
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