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Driving on a Known Sensori-Motor Trajectory with a Car-like Robot

  • Cédric Pradalier
  • Pierre Bessière
  • Christian Laugier
XIV. Perception
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

Abstract

Autonomous navigation of a mobile robot along a predefined trajectory is a widely studied problem in the robotics community. We propose a Bayesian architecture that aims at being able to replay any sensori-motor trajectory – trajectory defined as a sequence of perceptions and actions – as long as the robot starts in its neighbourhood. In order to increase robustness, we also use this Bayesian framework to build our controller and an obstacle avoidance module. This work has been validated both on a simulated robot and on a real robot: the CyCab.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Cédric Pradalier
    • 1
  • Pierre Bessière
    • 1
  • Christian Laugier
    • 1
  1. 1.INP Grenoble - GRAVIR Laboratory - INRIA Rhône-Alpes Unité de Recherche INRIA Rhône-Alpes : Zirst - 655 avenue de l’Europe - Montbonnot 38334 Saint Ismier Cedex - France Tel : +33 (0)4 76 61 53 45 - Fax : +33 (0)4 76 61 52 10France

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