Safe Path Planning for Mobile Robots

摘要

The objective of this work is to bring a response to the safe paths planning problem. So, a path planning method dealing with localization uncertainties is proposed where both uncertainty in position and in orientation of a nonholonomic mobile robot are managed. The safeness of this method is due to the melting between the planning phase and the navigation phase by use of the same process of localization (the Kalman filter). This process realized the multisensor fusion of data provided by a ring of both telemetric and contact sensors in combination with a dead-reckoning system. Numerous examples of planned paths are presented showing the behavior of the mobile robot according to localization information.