A 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 strategy to correct the trajectory and to smoothly switch among the landmarks of the environment. Experimental results highlight the relevance of the proposed formalism. keywords: Motion Planning, Sensor-Based Motion, Landmark-Based Motion, Mobile robot