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.

[img]
Preview
PDF (benelux_2a.pdf)
benelux_2a.pdf

Download (731kB)

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: Contribution to Conference (Poster)
Journal or Publication Title: IEEE Benelux Signal Processing Symposium
Uncontrolled Keywords: /dk/atira/pure/researchoutput/libraryofcongress/qa75
Subjects:
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: 23 Aug 2019 00:25
URI: https://eprints.lancs.ac.uk/id/eprint/1373

Actions (login required)

View Item View Item