A General Framework for Planning Landmark-Based Motions for Mobile Robots

Abstract

In this paper, we present a novel generic approach for planning landmark-based motion. The method consists in selecting automatically the most relevant landmarks along a preplanned geometric path. It proposes a strategy to correct the trajectory and to smoothly switch among the landmarks of the environment. Experimental results highlight the relevance of the proposed formalism.

Keywords:

• MOTION PLANNING
• SENSOR-BASED MOTION
• LANDMARK-BASED MOTION
• MOBILE ROBOT