Planning robust motion strategies for a mobile robot

This paper reports on a recent work we have conducted concerning the development and the implementation of a robust motion planner for a mobile robot in a polygonal environment and in presence of uncertainty in robot control and sensing. Such a planner takes explicitly into account the uncertainty in robot control and produces a robust motion plan composed of sensor-based motion commands. The main originality of this approach is that it is able to account for a set of motion commands which may accumulate errors. It is based on a geometric analysis of the reachability and it generates motion strategies which may allow the robot to reduce its uncertainty