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

Author(s):

A. Bemporad, G. Oriolo, A. De Luca
Conference/Journal:

IEEE International Conference on Robotics and Automation, Minneapolis, pp. 1205-1211
Abstract:

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 motion stops away from the desired goal, various force fields are considered and compared by simulation.

Further Information
Year:

1996
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { BemOri:1996:IFA_80,
    author={A. Bemporad and G. Oriolo and A. De Luca},
    title={{Local incremental planning for a car-like robot navigating
	  among obstacles}},
    booktitle={IEEE International Conference on Robotics and Automation},
    pages={1205--1211},
    year={1996},
    address={Minneapolis},
    month=apr,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=80}
}
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