• English
    • français
  • Help
  •  | 
  • Contact
  •  | 
  • About
  •  | 
  • Login
  • HAL portal
  •  | 
  • Pages Pro
  • EN
  •  / 
  • FR
View Item 
  •   LillOA Home
  • Liste des unités
  • Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
  • View Item
  •   LillOA Home
  • Liste des unités
  • Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Motion planning for non-holonomic mobile ...
  • BibTeX
  • CSV
  • Excel
  • RIS

Document type :
Communication dans un congrès avec actes
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] refId
Non-Asymptotic estimation for online systems [NON-A]
Systèmes Non Linéaires et à Retards [SyNeR]
Perruquetti, Wilfrid [Auteur]
Centrale Lille
Non-Asymptotic estimation for online systems [NON-A]
Systèmes Non Linéaires et à Retards [SyNeR]
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
Files
Thumbnail
  • https://hal.inria.fr/hal-01071506/document
  • Open access
  • Access the document
Thumbnail
  • https://hal.inria.fr/hal-01071506/document
  • Open access
  • Access the document
Thumbnail
  • https://hal.inria.fr/hal-01071506/document
  • Open access
  • Access the document
Université de Lille

Mentions légales
Université de Lille © 2017