Title :

Motion planning for non-holonomic mobile robots using the i-PID controller and potential field

Author(s) :

Ma, Yingchong [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Zheng, Gang [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Perruquetti, Wilfrid [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Centrale Lille
Qiu, Zhaopeng [Auteur]
Non-Asymptotic estimation for online systems [NON-A]

Conference title :

IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2014

City :

Chicago

Country :

Etats-Unis d'Amérique

Start date of the conference :

2014-09-15

HAL domain(s) :

Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

— This paper proposes a motion planning approach for non-holonomic mobile robots. Firstly, motion planning using i-PID controller is presented. Then we improve the old potential field function to produce smooth repulsive ...
Show more >— This paper proposes a motion planning approach for non-holonomic mobile robots. Firstly, motion planning using i-PID controller is presented. Then we improve the old potential field function to produce smooth repulsive force. Finally a new repulsive function of robot orientation and angular velocity is proposed to improve the performance of obstacle avoidance. The effectiveness and the robustness of the proposed method are shown thereafter via several simulations.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL