Performance-Based Reactive Navigation for Nonholonomic Mobile Robots

Defoort, Michael; Palos, Jorge; Kökösy, Annemarie; Floquet, Thierry; Perruquetti, Wilfrid

Document type :

Article dans une revue scientifique: Article original

DOI :

10.1017/S0263574708004700

Title :

Performance-Based Reactive Navigation for Nonholonomic Mobile Robots

Author(s) :

Defoort, Michael [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Palos, Jorge [Auteur]
Kökösy, Annemarie [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Floquet, Thierry [Auteur]

Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]
Perruquetti, Wilfrid [Auteur]

Centrale Lille
Systèmes Non Linéaires et à Retards [SyNeR]
Non-Asymptotic estimation for online systems [NON-A]

Journal title :

Robotica

Pages :

281-290

Publisher :

Cambridge University Press

Publication date :

2009

ISSN :

0263-5747

HAL domain(s) :

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

English abstract : [en]

This paper presents an architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles. Instead of addressing motion planning and control in different contexts, these issues are described ...
Show more >This paper presents an architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles. Instead of addressing motion planning and control in different contexts, these issues are described in connected modules with performance requirement considerations. The planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines nonlinear control theory, B-spline basis function and nonlinear programming. An integral sliding mode controller is used for trajectory tracking. Closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances. It is also shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations. The effectiveness, perfect performance of obstacle avoidance, real time and high robustness properties are demonstrated by experimental results.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

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