Safe and Autonomous Navigation for a Car-Like Robot Among Pedestrian

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 maneuverability 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 localization and environment modeling, motion planning and motion execution amidst 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.
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Cédric Pradalier, Jorje Hermosillo, Carla Koike, Christophe Braillon, Pierre Bessiere, et al.. Safe and Autonomous Navigation for a Car-Like Robot Among Pedestrian. IARP Int. Workshop on Service, Assistive and Personal Robots, Oct 2003, Madrid (ES), France. ⟨inria-00182084⟩

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