Affiliation:
1. Institut National de Recherche en Informatique et en Automatique INRIA-Sophia Antipolis (ICARE) 2004 Route des Lucioles, BP 93, 06902 Sophia Antipolis Cedex, France,
Abstract
In this paper we present the first part, part 1 of two, of a complete exploration and navigation methodology that enables a robot to safely navigate in an unknown environment. Reactive sensor-based navigation tasks and control laws are derived from the interaction between the robot and its workspace. The perception is performed by a two-dimensional laser range-finder mounted on the robot. Reactive navigation tasks are defined based on the task function framework in such a way that the robot can explore an unknown indoor environment without any reference trajectory computation. Obstacle avoidance is ensured as a straight property implicit to the definition of the navigation tasks. The stability and robustness of the derived control laws with respect to the model errors are analyzed. The experimental results validate the proposed methodology.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
14 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献