The CyCab: a car-like robot navigating autonomously and safely among pedestrians

• DOI: 10.1016/j.robot.2004.10.002
• Publication Date: 2004-12-29T05:14:09Z
• Authors: Cédric Pradalier; Jorge Hermosillo; Carla Koike; Christophe Braillon; Pierre Bessière; Christian Laugier
• Keywords: Obstacle avoidance

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.