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An Autonomous Car-Like Robot Navigating Safely Among Pedestrians
Abstract : The recent development of a new kind of public transporlation system relies on a particular douhlesteering kinematic structure enhancing maneuverability in clulteml environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy Capacities, the hi-steerahle car ought to combine suitably and safely a se1 of abilities: simultaneous localisation and environment modelling, motion planning and motion execution amidst moderately dynamic obstacles. In this paper we address the integration of these four essential autonomy abilities into a single application. Specifically, we aim at reactive execution of planned motion. We address the fusion of controls issued from the control law and the obstacle avoidance module using prohahilistic techniques.
Cited literature [11 references]
https://hal.inria.fr/inria-00182052
Contributor : Christian Laugier Connect in order to contact the contributor
Submitted on : Wednesday, October 24, 2007 - 6:35:58 PM
Last modification on : Wednesday, February 2, 2022 - 3:58:18 PM
Long-term archiving on: : Monday, April 12, 2010 - 12:33:46 AM
Contributor : Christian Laugier Connect in order to contact the contributor
Submitted on : Wednesday, October 24, 2007 - 6:35:58 PM
Last modification on : Wednesday, February 2, 2022 - 3:58:18 PM
Long-term archiving on: : Monday, April 12, 2010 - 12:33:46 AM
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