TY - GEN
T1 - SLAM-based turning strategy in restricted environments for car-like mobile robots
AU - Auat Cheein, Fernando A.
AU - Carelli, Ricardo
AU - De La Cruz, Celso
AU - Bastos-Filho, Teodiano F.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77954403243&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2010.5472734
DO - 10.1109/ICIT.2010.5472734
M3 - Conference contribution
AN - SCOPUS:77954403243
SN - 9781424456970
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 602
EP - 607
BT - Proceedings - ICIT 2010
T2 - IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Y2 - 14 March 2010 through 17 March 2010
ER -