Robotic Path Planning and Visibility with Limited Sensor Data

Author

Landa, Yanina ; Galkowski, David ; Huang, Yuan R. ; Joshi, Abhijeet ; Lee, Christine ; Leung, Kevin K. ; Malla, Gitendra ; Treanor, Jennifer ; Voroninski, Vlad ; Bertozzi, Andrea L. ; Tsai, Yen-Hsi R.

Author_Institution

Univ. of California Los Angeles, Los Angeles

fYear

2007

fDate

9-13 July 2007

Firstpage

5425

Lastpage

5430

Abstract

Autonomous robotic systems (observers) equipped with range sensors must be able to discover their surroundings, in an initially unknown environment, for navigational purposes. We present an implementation of a recent environment- mapping algorithm [1] based on Essentially Non-oscillatory (ENO) interpolation [2]. An economical cooperative control tank-based platform [3] is used to validate our algorithm. Each vehicle on the test-bed is equipped with a flexible caterpillar drive, range sensor, limited onboard computing, and wireless communication.

Keywords

interpolation; mobile robots; path planning; robot vision; sensors; vehicles; autonomous robotic systems; economical cooperative control tank-based platform; essentially nonoscillatory interpolation; limited sensor data; robotic path planning; robotic visibility; Communication system control; Environmental economics; Interpolation; Navigation; Path planning; Robot sensing systems; Sensor systems; Testing; Vehicle driving; Wireless communication;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2007. ACC '07

Conference_Location

New York, NY

ISSN

0743-1619

Print_ISBN

1-4244-0988-8

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2007.4282381

Filename

4282381