Safe actions and observations planning for mobile robots

Abstract

Deals with the definition of safe tasks for displacement missions of a non-holonomic mobile robot in an indoor environment. The goal of this study is to plan actions (path following) as well as observations (local maps), leading the robot to configurations where pertinent features can be sensed, thus allowing the robot's best localization relative to its environment. Firstly, the local map concept is introduced as a set of the best landmarks used for planning and executing robust motion movements. Secondly, a path planning method dealing with uncertainties is proposed, where both uncertainties in localization and in control of a non-holonomic mobile robot are managed. The safeness of the proposed method is due to the mixing between the planning phase and the navigation phase.