This paper proposes an efficient scheme to solve the problem of identifying an object from range data and navigating to it by on line calculating and performing highly continuous paths for a precise target reaching. Our approach combines a laser range-based object localization method with the PC-Sliding, a technique based upon Polynomial Curvature paths that are suitable for nonholonomic mobile robots and robust to measurement and model uncertainties. First the object is on-line localized using a laser rangefinder taking into account sensor and robot pose uncertainties and then a PCpath is bothplanned and real-time controlled with a unique strategy. © 2008 IEEE.
An Object Localization and Reaching Method for Wheeled Mobile Robots using Laser Rangefinder
Baglivo, Luca;Miori, Giordano;Marcuzzi, Enrico;Pertile, Marco;De Cecco, Mariolino
2008-01-01
Abstract
This paper proposes an efficient scheme to solve the problem of identifying an object from range data and navigating to it by on line calculating and performing highly continuous paths for a precise target reaching. Our approach combines a laser range-based object localization method with the PC-Sliding, a technique based upon Polynomial Curvature paths that are suitable for nonholonomic mobile robots and robust to measurement and model uncertainties. First the object is on-line localized using a laser rangefinder taking into account sensor and robot pose uncertainties and then a PCpath is bothplanned and real-time controlled with a unique strategy. © 2008 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
