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Conference Papers Year : 2003

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

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.

Domains

Other [cs.OH]
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Dates and versions

inria-00182084 , version 1 (24-10-2007)

Identifiers

  • HAL Id : inria-00182084 , version 1

Cite

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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