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Sensor information space for robust mobile robot path planning

Published online by Cambridge University Press:  09 April 2001

A. Pruski  and
A. Atassi
A. Pruski
Affiliation:
Laboratoire d'Automatique des systèmes coopératifs (LASC), Université de Metz, Ile du Saulcy, BP80794, 57012 Metz (France)Alain.Pruski@lasc.univ-metz.fr
A. Atassi
Affiliation:
Laboratoire d'Automatique des systèmes coopératifs (LASC), Université de Metz, Ile du Saulcy, BP80794, 57012 Metz (France)
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Abstract

This paper introduces a new approach to robust path planning for mobile robots entirely based on information from environment perception sensors. This method avoids the use of odometry which leads to the accumulation of errors resulting from the robot's position computing. We proceed as follows: we create regions inside which the robot detects the same obstacle segments. A node graph represents all the regions and their links. Then a planning algorithm is used to find a path which joins a start to a goal region. The final stage consists in applying a robust robot motion control as regards the uncertainties of the environment model. This approach contributes to a control system for indoor robots which is environment referenced. The sensors we deal with are first a continuous laser or ultrasonic scanning system, then a discrete ultrasonic belt whose limits of use we show.

Keywords

Path planningRobust controlEnvironment model
Type
Research Article
Information
Robotica , Volume 18 , Issue 4 , July 2000 , pp. 415 - 421
Copyright
© 2000 Cambridge University Press

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