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Active sensing of a nonholonomic wheeled mobile robot

Research output: Contribution to conferencePoster


Publication date21/03/2002
Number of pages125
Original languageEnglish


ConferenceIEEE Benelux Signal Processing Symposium
CityLeuven, Belgium


This paper focuses on active sensing of nonholonomic wheeled mobile robots (WMRs). Active sensing solves the following problem: given a current knowledge about the robot state and the environment, how to select the next sensing action or sequence of actions. A vehicle is moving autonomously through a static environment gathering information from sensors. The sensor data are used to generate the robot actions in order to move around a reference trajectory with preset initial starting and desired goal configurations and imposed constraints. The paper presents a method for the determination of optimal trajectories based on optimization techniques. A suitable performance criterion is formulated to characterize the uncertainty and the extraction of information from sensor data. Finally results from experiments are given.