This paper presents a complete working system for robot formations, where path planning and localization tasks are integrated in such a way that environment uncertainty is considered in each of the tasks. Feature-based and grid-based mapping strategies are combined in a probabilistic way to compute an obstacle-free and of minimum-risk plan towards the goal. The formation benefits from the cooperative perception to obtain a joint vision of the environment, represented in a leadercentric way to minimize the effects of the uncertainty. The system has been tested and validated by means of a set of simulations as well as in real experiments. © 2012 IFAC.
Position tracking and path planning in uncertain maps for robot formations / LAZARO GRANON, MARIA TERESA; Urcola, Pablo; Montano, Luis; Castellanos, José A.. - 45:28(2012), pp. 7-12. (Intervento presentato al convegno 2012 2nd IFAC Workshop on Multivehicle Systems, MVS 2012 tenutosi a Espoo; Finland nel 2012) [10.3182/20121003-3-SF-4024.00005].
Position tracking and path planning in uncertain maps for robot formations
LAZARO GRANON, MARIA TERESA;
2012
Abstract
This paper presents a complete working system for robot formations, where path planning and localization tasks are integrated in such a way that environment uncertainty is considered in each of the tasks. Feature-based and grid-based mapping strategies are combined in a probabilistic way to compute an obstacle-free and of minimum-risk plan towards the goal. The formation benefits from the cooperative perception to obtain a joint vision of the environment, represented in a leadercentric way to minimize the effects of the uncertainty. The system has been tested and validated by means of a set of simulations as well as in real experiments. © 2012 IFAC.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
