Path planning with uncertainty for car-like robots
Path planning with uncertainty for car-like robots
复制标题
类车机器人的不确定路径规划
DOI：
10.1109/robot.1998.676244
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
R. Mermond
中科院分区：
文献类型：
--
作者：
Thierry Fraichard;R. Mermond
本文提出了一种同时考虑非完整约束和不确定性约束的路径规划器。研究了车式机器人受控制误差和传感误差影响的累积和无界位形不确定性的情形。假设存在允许机器人在特定位置重新定位的地标，我们提出了一种算法，该算法计算出既可行又健壮的路径。换句话说，它们尊重汽车类机器人的非完整约束，只要机器人的控制和传感误差保持在有界集合内，就可以保证机器人通过遵循这些约束来达到目标。
This paper presents the first path planner taking into account both nonholonomic and uncertainty constraints. The case of a car-like robot subject to cumulative and unbounded configuration uncertainty related to bounded control and sensing errors is considered. Assuming the existence of landmarks allowing the robot to relocalize itself in particular places, we present an algorithm that computes paths that are both feasible and robust. In other words, they respect the nonholonomic constraints of a car-like robot and the robot is assured to reach its goal by following them, as long as its control and sensing errors remain within bounded sets.
DOI：
10.1109/70.508439
发表时间：
1996-08-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Kavraki, LE;Svestka, P;Overmars, MH
通讯作者：
Overmars, MH