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Proceedings Paper

Intelligent piloting tools for control of an autonomous mobile robot
Author(s): Eric Malotaux; Rodolphe Alimenti; Marc Bogaert; Pierre Gaspart
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Paper Abstract

Mobile robots usually suffer from a problem of continuous localization for position control feedback (indeed dead reckoning is often unreliable because of slippage and drift). One solution to this problem is to involve dedicated environment perception in the motion process. There is also a need for a very precise flexible and inexpensive in computation time path execution control algorithm. It must produce natural trajectories and not only straight lines and circles joined by stop points and must take into account all the physical constraints on speed and acceleration. All these requirements are handled by the " pilot" we present here.

Paper Details

Date Published: 1 March 1991
PDF: 12 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.48093
Show Author Affiliations
Eric Malotaux, CRIF (Belgium)
Rodolphe Alimenti, CRIF (Belgium)
Marc Bogaert, CRIF (Belgium)
Pierre Gaspart, CRIF (Belgium)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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