loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: A. Durand-Petiteville 1 ; V. Cadenat 2 and N. Ouadah 3

Affiliations: 1 University of California, United States ; 2 CNRS, LAAS and Univ. de Toulouse, France ; 3 Centre de Développement des Technologies Avancées, Algeria

ISBN: 978-989-758-123-6

Keyword(s): Sensor-based Navigation, Mobile Robot, Topological Map.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This article deals with the autonomous navigation problem of a mobile robot in a cluttered environment. We propose to have a different perspective than the traditional way of splitting the problem into two categories: the map-based ones and the mapless ones. Here we divide navigation systems into six processes: perception, modeling, localization, planning, action and decision. Then we present how those processes are organized into an architecture to perform a navigation. It is shown that this framework embraces any navigation system proposed in the literature and how it allows to create new combination of processes. We then detail our solution to the problem which mainly consists in coupling sensor-based controllers with a topological map. Moreover we present the used tools that we have developed over the last years as well as the ones from the literature. Finally we present experimentation results of a long-range navigation based on the proposed approach where a robot drives through an environement despite of occlusions and possible collisions due to obstacles. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.161.118.57

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Durand-Petiteville, A.; Cadenat, V. and Ouadah, N. (2015). A Complete Sensor-based System to Navigate Through a Cluttered Environment.In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 166-173. DOI: 10.5220/0005502201660173

@conference{icinco15,
author={A. Durand{-}Petiteville. and V. Cadenat. and N. Ouadah.},
title={A Complete Sensor-based System to Navigate Through a Cluttered Environment},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={166-173},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005502201660173},
isbn={978-989-758-123-6},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Complete Sensor-based System to Navigate Through a Cluttered Environment
SN - 978-989-758-123-6
AU - Durand-Petiteville, A.
AU - Cadenat, V.
AU - Ouadah, N.
PY - 2015
SP - 166
EP - 173
DO - 10.5220/0005502201660173

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.