Autonomous navigation of a nonholonomic mobile robot in a environment

Kökösy, Annemarie; Defaux, Franck-Olivier; Perruquetti, Wilfrid

Document type :

Autre communication scientifique (congrès sans actes - poster - séminaire...): Communication dans un congrès avec actes

Title :

Autonomous navigation of a nonholonomic mobile robot in a environment

Author(s) :

Kökösy, Annemarie [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Defaux, Franck-Olivier [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Perruquetti, Wilfrid [Auteur]

Systèmes Non Linéaires et à Retards [SyNeR]

Conference title :

2008 IEEE International Workshop on Safety, Security, and Rescue Robotics

City :

Sendai

Country :

Japon

Start date of the conference :

2008-10-21

English keyword(s) :

robot navigation
non linear optimization
flatness
supervisor
nonholonomic robot
path planning
complex environment

HAL domain(s) :

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

English abstract : [en]

This paper presents a new path planning algorithm for the autonomous navigation of a nonholonomic mobile robot. The environment in which the robot evolves is unknown and encumbered by obstacles. The goal of the robot is ...
Show more >This paper presents a new path planning algorithm for the autonomous navigation of a nonholonomic mobile robot. The environment in which the robot evolves is unknown and encumbered by obstacles. The goal of the robot is to move towards the arrival point (which is known) by avoiding the obstacles. The path planning algorithm recomputes a new trajectory whenever a new obstacle is detected. The planned trajectory takes account of the physical constraints of the robot (speed saturation, kinematic robot model, nonholonomic constraint). The trajectory of the robot is obtained by optimizing a problem of optimal control under constraints. The resolution of this problem is done by using the flatness property of the system, which transforms the initial optimization problem into a nonlinear dynamic programming problem. The problems of the local minima are solved by using a supervisor. Our algorithm will be compared with another algorithm of the literature in order to highlight its effectiveness. Simulation results will be presented to illustrate the good performance of the algorithm for robot navigation in a complex environment.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Non spécifiée

Popular science :

Non

Collections :

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

Source :

Harvested from HAL

Files

https://hal.archives-ouvertes.fr/hal-00520219/document
Open access
Access the document

https://hal.archives-ouvertes.fr/hal-00520219/document
Open access
Access the document

https://hal.archives-ouvertes.fr/hal-00520219/document
Open access
Access the document

https://hal.archives-ouvertes.fr/hal-00520219/document
Open access
Access the document

document
Open access
Access the document

SSRR-paper-finalversion.pdf
Open access
Access the document

Autonomous navigation of a nonholonomic ... BibTeX CSV Excel RIS

Files

Autonomous navigation of a nonholonomic ...

BibTeX

CSV

Excel

RIS