dc.contributor.author
Pacheco Valls, Lluís
dc.contributor.author
Luo, Ningsu
dc.contributor.author
Cufí i Solé, Xavier
dc.contributor.author
Cobos Gutiérrez, Francisco Javier
dc.date.accessioned
2024-05-22T09:47:07Z
dc.date.available
2024-05-22T09:47:07Z
dc.identifier
Pacheco, L., Luo, N., Cufi, X., i Cobos, J. (2009). Local WMR navigation with monocular data. 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 584-589. Recuperat 31 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4804027
dc.identifier
http://hdl.handle.net/10256/2450
dc.identifier.uri
http://hdl.handle.net/10256/2450
dc.description.abstract
This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot
dc.format
application/pdf
dc.relation
info:eu-repo/semantics/altIdentifier/doi/10.1109/ICARA.2000.4804027
dc.relation
info:eu-repo/semantics/altIdentifier/isbn/978-1-4244-2712-3
dc.rights
Tots els drets reservats
dc.rights
info:eu-repo/semantics/openAccess
dc.source
© 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 2009, p. 584-589
dc.source
Articles publicats (D-ATC)
dc.subject
Robots mòbils -- Sistemes de control
dc.subject
Control predictiu
dc.subject
Sistema de posicionament global
dc.subject
Global Positioning System
dc.subject
Mobile robots -- Control systems
dc.subject
Predictive control
dc.title
Local WMR navigation with monocular data
dc.type
info:eu-repo/semantics/article
