ICRA 2011 Paper Abstract

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Paper WeA103.4

Shah, Danelle (Cornell University), Campbell, Mark (Cornell University)

A Robust Qualitative Planner for Mobile Robot Navigation Using Human-Provided Maps

Scheduled for presentation during the Regular Sessions "Autonomous Navigation III" (WeA103), Wednesday, May 11, 2011, 09:05−09:20, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Autonomous Navigation, Motion and Path Planning, Telerobotics

Abstract

A novel method for controlling a mobile robot using qualitative inputs in the context of an approximate map, such as one sketched by a human, is presented. By defining a desired trajectory with respect to observable landmarks, human operators can send semi-autonomous robots into areas for which a truth map is not available. Waypoint planning is formulated as a quadratic optimization problem, resulting in robot trajectories in the true environment that are qualitatively similar to those provided by the human. The algorithm is implemented both in simulation and on a mobile robot platform in several different environments. A sensitivity analysis is performed, illustrating how the method is robust to uncertainties, even large sketch distortions, and allows the robot to adapt and re-plan according to its most current perception of the world.

 

 

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