DUGiDocsLocal WMR navigation with monocular data
dc.contributor.author
dc.date.accessioned
2010-05-31T11:55:21Z
dc.date.available
2010-05-03T15:13:51Z
2010-05-31T11:55:21Z
dc.date.issued
2009
dc.identifier.citation
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.isbn
978-1-4244-2712-3
dc.identifier.uri
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.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
IEEE
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ICARA.2000.4804027
dc.relation.ispartof
© 4th International Conference on Autonomous Robots and Agents : 2009 : ICARA 2009, 2009, p. 584-589
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.subject
dc.title
Local WMR navigation with monocular data
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi