SLAM-based turning strategy in restricted environments for car-like mobile robots

Fernando A. Auat Cheein, Ricardo Carelli, Celso De La Cruz, Teodiano F. Bastos-Filho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In the present work, a strategy to turn a car-like mobile robot in a restricted environment is presented. The strategy uses a Simultaneous Localization and Map Building (SLAM) algorithm to localize the robot in the environment and uses the map generated by the SLAM in the reverse movement of the turning strategy. The planning strategy takes into account the variance propagation in the predicted path for ensure the safe driving of the robot. In all the cases, the robot is considered as a body in movement, not as a point, to exploit all the navigable space. The vehicle is commanded by a kinematic trajectory controller. Real time experimental results are also shown in this work.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Industrial Technology
PublisherIEEE
Pages602-607
Number of pages6
ISBN (Electronic)9781424456970
DOIs
Publication statusPublished - 27 May 2010
EventIEEE-ICIT 2010 International Conference on Industrial Technology - Vina del Mar, Chile
Duration: 14 Mar 201017 Mar 2010

Conference

ConferenceIEEE-ICIT 2010 International Conference on Industrial Technology
Abbreviated titleICIT 2010
Country/TerritoryChile
CityVina del Mar
Period14/03/1017/03/10

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'SLAM-based turning strategy in restricted environments for car-like mobile robots'. Together they form a unique fingerprint.

Cite this