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Local incremental planning for a car-like robot navigating among obstacles

Bemporad, Alberto and De Luca, Alessandro and Oriolo, Giuseppe Local incremental planning for a car-like robot navigating among obstacles. In: International conference on robotics and automation. IEEE, Minneapolis, Minnesota - April 1996, pp. 1205-1211. ISBN 0-7803-2988-0 (1996)

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We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a least-squares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid the motion stops away from the desired goal, various force fields are considered and compared by simulation

Item Type: Book Section
Identification Number: 10.1109/ROBOT.1996.506871
Uncontrolled Keywords: feedback; mobile robots; navigation; nonlinear systems; path planning; position control; robot kinematics
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:20
Last Modified: 16 Jul 2014 13:05
URI: http://eprints.imtlucca.it/id/eprint/596

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