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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.
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Submitted on : Wednesday, October 24, 2007 - 6:35:58 PM
Last modification on : Thursday, January 3, 2019 - 11:06:03 AM
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  • 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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