Planning Robust Landmarks for Sensor Based Motion
نویسندگان
چکیده
Our work is focused on defining a generic approach for planning landmark based motion. In previous works we have introduced the formal basis for this and showed simulation results. In this paper we first demonstrate the relevance of our work with experiments on a real robot. Then, on the base of these results we introduce new strategy for planning selecting landmarks in order to improve the robustness of the navigation task in a cluttered environment.
منابع مشابه
"Localization Space: " A Framework for Localization and Planning, for Systems using a Sensor/Landmarks Module
One of the common ways of localization in robotics is the triangulation using a system composed of a sensor and some landmarks (which can be artificial or natural). This paper presents a framework, namely the Localization Space, in order to deal with problems such as the landmark placement and motion planning including the localization constraint. Based on this framework, we present general app...
متن کاملA General Framework for Planning Landmark-Based Motions for Mobile Robots
Our work is focused on defining a generic approach for planning landmark based motion. The proposed geometric approach deals with robots of complex kinematic moving in cluttered environment. It aims at providing safe strategy of motion for such constrained conditions. The method consists in selecting automatically the most relevant landmarks along a pre-planned geometric path. It proposes a str...
متن کاملStudying localization with landmarks
Localization with landmarks is a recurrent problem in robotics. In order to perceive the environment, robots are often equipped with some exteroceptive sensors (such as camera, laser range finder, etc). One way of using these sensors for localization is to detect some features in the environment and to use them as landmarks. In this paper, we present how we tackle the complete set up of a fast,...
متن کاملImage-based prediction of landmark features for mobile robot navigation
We have been developing an architecture for vision-based navigation which relies on continuous feedback from visual \landmarks" to control robot motion. In this approach, landmarks are consistently located and acquired as they come into view. To make this process eecient and robust, it is important that the image locations of these features can be predicted from available image information. In ...
متن کاملMotion planning for maintaining landmarks visibility with a differential drive robot
This work studies the interaction of non-holonomic and visibility constraints using a Differential Drive Robot (DDR) that has to keep static landmarks in sight in an environment with obstacles. The robot has a limited sensor, namely, it has a restricted field of view and bounded sensing range (e.g. a video camera). Here, we mean by visibility that a clear line of sight can be thrown between the...
متن کامل