SLAM-based turning strategy in restricted environments for car-like mobile robots

Fernando A. Auat Cheein, Ricardo Carelli, Celso De La Cruz, Teodiano F. Bastos-Filho

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

In the present work, a strategy to turn a car-like mobile robot in a restricted environment is presented. The strategy uses a Simultaneous Localization and Map Building (SLAM) algorithm to localize the robot in the environment and uses the map generated by the SLAM in the reverse movement of the turning strategy. The planning strategy takes into account the variance propagation in the predicted path for ensure the safe driving of the robot. In all the cases, the robot is considered as a body in movement, not as a point, to exploit all the navigable space. The vehicle is commanded by a kinematic trajectory controller. Real time experimental results are also shown in this work.

Original languageEnglish
Title of host publicationProceedings - ICIT 2010
Subtitle of host publicationIEEE-ICIT 2010 International Conference on Industrial Technology
Pages602-607
Number of pages6
DOIs
StatePublished - 2010
Externally publishedYes
EventIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile
Duration: 14 Mar 201017 Mar 2010

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Conference

ConferenceIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Country/TerritoryChile
CityVina del Mar
Period14/03/1017/03/10

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