Sensor-based motion planning and control for the HILARE mobile robot

Author

Khatib, M. ; Siméon, T.

Author_Institution

Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France

Volume

3

fYear

1997

fDate

7-11 Sep 1997

Abstract

This paper presents the algorithms that have been developed and integrated onto the HILARE 2 mobile robot for achieving robust navigation, in presence of control and sensing errors, in an a priori known office-like environment. The mobile robot is equipped with a belt of 32 sonars and a laser range finder. Sonar data are used for the wall-following, move to contact and parallel actions. The laser is used for edge detection and matching during a wall-following. A VME rack supporting 6 CPU boards of the Motorola 680x0 family is mounted on the robot running under the VxWorks real-time system

Keywords

edge detection; laser ranging; mobile robots; motion control; path planning; pattern matching; real-time systems; sonar; tracking; HILARE mobile robot; edge detection; laser range finder; motion control; navigation; pattern matching; real-time system; sensor-based motion planning; sonar; wall-following; Error correction; Land use planning; Mobile robots; Motion control; Motion detection; Motion planning; Navigation; Robot sensing systems; Robust control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.656797

Filename

656797