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Autonomous navigation framework for a car-like robot

Autor
Hernandez, S.; Herrero, F.
Tipus d'activitat
Document cientificotècnic
Data
2015
Codi
IRI-TR-15-07
Projecte finançador
Cooperación Robots Humanos en Àreas Urbanas
Repositori
http://hdl.handle.net/2117/83916 Obrir en finestra nova
URL
http://www.iri.upc.edu/files/scidoc/1658-Autonomous-navigation-framework-for-a-car-like-robot.pdf Obrir en finestra nova
Resum
This technical report describes the work done to develop a new navigation scheme for an autonomous car-like robot available at the Mobile Robotics Laboratory at IRI. To plan the general path the robot should follow (i.e. the global planner), a search based planner algorithm, with motion primitives which take into account the kinematic constraints of the robot, is used. To actually execute the path and avoid dynamic obstacles (i.e the local planner) a modification of the DWA algorithm is used, wh...
Citació
Hernandez, S., Herrero, F. "Autonomous navigation framework for a car-like robot". 2015.
Paraules clau
Autonomous navigation, Mobile robots, Robot kinematics
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI
VIS - Visió Artificial i Sistemes Intel.ligents

Participants