Optimized trajectories for mobile robot with map uncertainty

In this paper we propose a methodology to generate trajectories for a mobile robot which uses an uncertain geometric map to estimate its position and orientation during its displacement. This methodology is based on the definition of particular paths and on defining a cost function to weigh the trad...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 42; no. 10; pp. 1475 - 1480
Main Authors Celeste, F., Dambreville, F., Le Cadre, J.-P.
Format Journal Article
LanguageEnglish
Published 2009
Subjects
Estimation
path planning
risk
stochastic optimization
risk
path planning
Estimation
stochastic optimization
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Summary:In this paper we propose a methodology to generate trajectories for a mobile robot which uses an uncertain geometric map to estimate its position and orientation during its displacement. This methodology is based on the definition of particular paths and on defining a cost function to weigh the trade-off between expected localization gain and the risk due to the map uncertainty.
ISSN:1474-6670
DOI:10.3182/20090706-3-FR-2004.00246