The CyCab: a car-like robot navigating autonomously and safely among pedestrians |
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Affiliation: | 1. Department of Parasitology, School of Medicine, Pusan National University, Yangsan, Gyeongsangnam-do 626-870, Republic of Korea;2. Immunoregulatory Therapeutics Group in Brain Busan 21 Project, Busan, Republic of Korea;3. Department of Immunology, Hospital Carlos III, Madrid, Bilbao, Spain;4. Department of Parasitology, Kosin University College of Medicine, Busan 602-703, Republic of Korea;5. Department of Parasitology, School of Medicine, Kyungpook National University, Daegu 700-422, Republic of Korea |
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Abstract: | The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous localisation and environment modelling, motion planning and motion execution amidst moderately dynamic obstacles. In this paper we address the integration of these four essential autonomy abilities into a single application. Specifically, we aim at reactive execution of planned motion. We address the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques. |
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