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.

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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:
Contribution to Conference (Poster)
Journal or Publication Title:
IEEE Benelux Signal Processing Symposium
Uncontrolled Keywords:
/dk/atira/pure/researchoutput/libraryofcongress/qa75
Subjects:
ID Code:
1373
Deposited By:
Deposited On:
08 Feb 2008 09:26
Refereed?:
Yes
Published?:
Published
Last Modified:
04 Dec 2020 07:59