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

doi:10.1109/ICIT.2010.5472734

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 proceeding › Conference contribution

8 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 language	English
Title of host publication	2010 IEEE International Conference on Industrial Technology
Publisher	IEEE
Pages	602-607
Number of pages	6
ISBN (Electronic)	9781424456970
DOIs	https://doi.org/10.1109/ICIT.2010.5472734
Publication status	Published - 27 May 2010
Event	IEEE-ICIT 2010 International Conference on Industrial Technology - Vina del Mar, Chile Duration: 14 Mar 2010 → 17 Mar 2010

Conference

Conference	IEEE-ICIT 2010 International Conference on Industrial Technology
Abbreviated title	ICIT 2010
Country/Territory	Chile
City	Vina del Mar
Period	14/03/10 → 17/03/10

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

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10.1109/ICIT.2010.5472734

Cite this

@inproceedings{48fe093dc0644723b482b559665b93b8,

title = "SLAM-based turning strategy in restricted environments for car-like mobile robots",

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.",

author = "{Auat Cheein}, {Fernando A.} and Ricardo Carelli and {De La Cruz}, Celso and Bastos-Filho, {Teodiano F.}",

year = "2010",

month = may,

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doi = "10.1109/ICIT.2010.5472734",

language = "English",

pages = "602--607",

booktitle = "2010 IEEE International Conference on Industrial Technology",

publisher = "IEEE",

address = "United States",

note = "IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 ; Conference date: 14-03-2010 Through 17-03-2010",

}

Auat Cheein, FA, Carelli, R, De La Cruz, C & Bastos-Filho, TF 2010, SLAM-based turning strategy in restricted environments for car-like mobile robots. in 2010 IEEE International Conference on Industrial Technology. IEEE, pp. 602-607, IEEE-ICIT 2010 International Conference on Industrial Technology, Vina del Mar, Chile, 14/03/10. https://doi.org/10.1109/ICIT.2010.5472734

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T1 - SLAM-based turning strategy in restricted environments for car-like mobile robots

AU - Auat Cheein, Fernando A.

AU - Carelli, Ricardo

AU - De La Cruz, Celso

AU - Bastos-Filho, Teodiano F.

PY - 2010/5/27

Y1 - 2010/5/27

N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - 2010 IEEE International Conference on Industrial Technology

PB - IEEE

T2 - IEEE-ICIT 2010 International Conference on Industrial Technology

Y2 - 14 March 2010 through 17 March 2010

ER -

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

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