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Communication Dans Un Congrès Année : 2004

An Autonomous Car-Like Robot Navigating Safely Among Pedestrians

Résumé

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.

Domaines

Autre [cs.OH]
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Dates et versions

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

Identifiants

  • HAL Id : inria-00182052 , version 1

Citer

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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