Obstacles avoidance for car-like robots integration and experimentation on two robots

Abstract-Path deformation is a technique that was introduced to generate robot motion wherein a path, that has been computed beforehand, is continuously deformed on-line in response to unforeseen obstacles. This paper introduces the first trajectory deformation scheme as an effort to improve path deformation. The main idea is that by incorporating the time dimension and hence information on the obstacles' future behaviour, quite a number of situations where path deformation would fail can be handled. The trajectory deformation scheme presented operates in two steps, ie, a collision avoidance step and a connectivity maintenance step, hence its name 2-Step-Trajectory-Deformer (2-STD). In the collision avoidance step, repulsive forces generated by the obstacles deform the trajectory so that it remains collision-free. The purpose of the connectivity maintenance step is to ensure that the deformed trajectory remains feasible, ie, that it satisfies the robot's kinematic and/or dynamic constraints. Moreover, unlike path deformation wherein spatial deformation only takes place, 2-STD features both spatial and temporal deformation. It has been tested successfully on a planar robot with double integrator dynamics moving in dynamic environments.

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“…Path deformation principle. The initial path is deformed so as to account for the triangular obstacle that was unknown at planning time [5].…”

Section: A Background and Motivationmentioning

confidence: 99%

From path to trajectory deformation

Kurniawati

Fraichard

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Computing a collision-free trajectory for a non-holonomic mobile robot located is a difficult task [3]. It deals with two extensively studied problems.…”

Section: Fixed and Dynamic Obstacle Approachmentioning

confidence: 99%

“…The method of deforming online the path followed by the robot in order to get away from obstacles detected along the motion [3]. This method has been extended to the case of unicycle-like mobile robot and then extended to holonomic mobile manipulator.…”

Section: Introductionmentioning

confidence: 99%

“…This method has been extended to the case of unicycle-like mobile robot and then extended to holonomic mobile manipulator. The non-holonomic path deformation method [3] is a generic approach of the online trajectory deformation issue. This deforms trajectory at execution time so that it moves away from obstacles and that the nonholonomic constraints of the system are satisfied.…”

Section: Introductionmentioning

confidence: 99%

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An Integrated Technique for Trajectory Planning of Non-Holonomic Mobile Robot in Unstructured Environment

Arshad

Choudhry

2006

2006 IEEE International Multitopic Conference

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Path planning is an important issue in mobile robots. When the environment consists of obstacles, Path planning is to find a collision free path for mobile robot to move from starting position to the target location. This Path planning should be optimal or must be near-optimal with respect to time, distance or energy. But distance is the most commonly adopted criterion. In this paper a new approach for the representation of dynamic environment has been presented. The integration of stationary and moving obstacles is the new work presented in this paper. Uncertainty in environment estimation has been taken into account by the probabilistic reasoning technique. Occupancy or risk of the probabilistic grid representation has been estimated for each cell using sensor data.

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“…The path deformation method suggested in [7] is based on a partial a priori knowledge of the world and does not guarantee safety and convergence to the goal. [8] proposes a decentralized policy for conflict resolution in multi-agent systems with aircraft-like agents, but does not handle stationary obstacles.…”

Section: Introductionmentioning

confidence: 99%

Hybrid control of a constrained velocity unicycle with local sensing

Oikonomopoulos

Loizou

Kyriakopoulos

2008

2008 47th IEEE Conference on Decision and Control

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Abstract-This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations.

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Obstacles avoidance for car-like robots integration and experimentation on two robots

Cited by 17 publications

References 8 publications

From path to trajectory deformation

From path to trajectory deformation

An Integrated Technique for Trajectory Planning of Non-Holonomic Mobile Robot in Unstructured Environment

Hybrid control of a constrained velocity unicycle with local sensing

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