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Active sensing of a nonholonomic wheeled mobile robot

Mihaylova, L. and Bruyninckx, H. and De Schutter, J. (2002) Active sensing of a nonholonomic wheeled mobile robot. In: IEEE Benelux Signal Processing Symposium, 2002-03-212002-03-22, Leuven, Belgium.

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    Abstract

    This paper focuses on active sensing of nonholonomic wheeled mobile robots (WMRs). Active sensing solves the following problem: given a current knowledge about the robot state and the environment, how to select the next sensing action or sequence of actions. A vehicle is moving autonomously through a static environment gathering information from sensors. The sensor data are used to generate the robot actions in order to move around a reference trajectory with preset initial starting and desired goal configurations and imposed constraints. The paper presents a method for the determination of optimal trajectories based on optimization techniques. A suitable performance criterion is formulated to characterize the uncertainty and the extraction of information from sensor data. Finally results from experiments are given.

    Item Type: Conference or Workshop Item (Poster)
    Journal or Publication Title: IEEE Benelux Signal Processing Symposium
    Uncontrolled Keywords: active sensing ; robot ; trajectory optimisation ; sensor data DCS-publications-id ; inproc-527 ; DCS-publications-credits ; dsp-fa ; DCS-publications-personnel-id ; 121
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    Departments: Faculty of Science and Technology > School of Computing & Communications
    ID Code: 1373
    Deposited By: Dr L Mihaylov
    Deposited On: 08 Feb 2008 09:26
    Refereed?: Yes
    Published?: Published
    Last Modified: 17 Sep 2013 09:58
    Identification Number:
    URI: http://eprints.lancs.ac.uk/id/eprint/1373

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