Information Technology Reference
In-Depth Information
Fig. 17.3
A backward trajectory computed and executed by the mobile robot Hilare 2 towing
a trailer. Grey dots are obstacles detected by a laser range finder mounted on the trailer. An
unexpected box lies on the trajectory planned by the robot. The robot deforms the trajectory
while moving and reach the goal
17.4.1
Experimental Results
Figure 17.3 shows an example where mobile robot Hilare 2 avoids an unexpected
obstacle detected by on-board sensors.
17.5
Extension to Docking
The method described in the previous section can be extended to docking of non-
holonomic mobile robots by changing the boundary condition relative to the end
configuration. This is the topic of this section.
17.5.1
Docking Task
A docking task is a mission given to a robot that consists in following a planned
trajectory and reaching a docking configuration. The docking configuration is not
defined beforehand as a known robot location, rather it is specified as a set of sensor
perceptions from this configuration. The set of landmarks to be perceived when the
Fig. 17.4
Docking pattern
.
It consists in a set of land-
marks defined relatively to a
sensor. In this example, the
docking pattern
is defined
relatively to the laser sensor
mounted on the trailer of a
robot
Search WWH ::
Custom Search