Title :
Path Planning for Car-Like Robots using Towers of Uncertainties
Author :
Pierre, Eric ; Lambert, Alain
Author_Institution :
Inst. d´´Electronique Fondamentale, Univ. Paris-Sud, Orsay
Abstract :
The object of this paper is firstly to describe a safe path planning algorithm in an uncertain-configuration space named SATU*, based on one of the most used path planner, the A* algorithm, and to give its proofs of optimality and completeness. Secondly, it is to present an application of our algorithm to a mobile robotic problem, the way we tested the SATU* in a simulated environment close to the real environment and, through two examples of different situations, the advantages of the SATU* over a simple path planner as A*
Keywords :
graph theory; mobile robots; path planning; uncertain systems; A* algorithm; SATU*; car-like robots; mobile robotic problem; path planning; towers of uncertainties; uncertain configuration space; Costs; Mobile robots; Navigation; Orbital robotics; Path planning; Poles and towers; Robot sensing systems; Solid modeling; Testing; Uncertainty;
Conference_Titel :
Information and Communication Technologies, 2006. ICTTA '06. 2nd
Conference_Location :
Damascus
Print_ISBN :
0-7803-9521-2
DOI :
10.1109/ICTTA.2006.1684467
