Online Trajectory Generation for Mobile Robots with Kinodynamic Constraints and Embedded Control Systems

Bonfè, Marcello; Secchi, Cristian; Scioni, Enea

doi:10.3182/20120905-3-hr-2030.00062

Cited by 5 publications

(6 citation statements)

References 11 publications

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“…However, such nonlinear filters are inherently single-DOF systems, and therefore, they are not designed to solve the obstacle avoidance problem. An adaptation of the nonlinear filtering approach to the specific context of wheeled mobile robots was proposed in [36,37], including obstacle avoidance capabilities in the latter reference.…”

Section: Related Workmentioning

confidence: 99%

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

et al. 2019

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The paper addresses the problem of the generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on a dynamical system to cope with the peculiar kinematics of surgical robots for laparoscopic operations, the mechanical constraint being enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in both simulated and experimental scenarios.Electronics 2019, 8, 957 2 of 24 requires addressing both technical and ethical/legal issues (see [6,7] for updated reviews). In particular, from the technological point of view, soft-tissue surgery in non-rigid anatomical environments forces taking into account hardly predictable scene changes, complicating the tasks of collision-free motion planning and physical environment interaction (i.e., contact with objects with unknown and even variable viscoelastic properties).The growth of investments in research and development projects for autonomous surgical robotics demonstrates the confidence and the expectations of the medical community regarding the benefits of such technologies. For example, the European Union has recently funded several projects related to the automation of surgical tasks, like I-SUR (Intelligent Surgical Robotics, FP7 Grant No. 270396, the automation of needle insertion and suturing tasks [8] by means of a dual-arm robot with hybrid parallel/serial kinematics. The cognitive control architecture proposed by I-SUR [9] was able to operate in either teleoperated [10] or autonomous mode [11], guaranteeing a stable switch between the two and an adaptive interaction with the environment in both modes [12]. The inherent relationship between surgical and industrial collaborative robotics is demonstrated by the fact that the same control methods (i.e., admittance control with variable dynamics) have also been applied by the same authors to enforce stability in pHRI [13,14]. Turning back to the specific case of the suturing task, the work presented in [11] proposed a motion planning solution based on a combination of previously-specified motion primitives for the dual-arm system, designed to mimic the bimanual gestures of a human surgeon, and collision-free paths generated with a plan-and-move strategy. Similar approaches to surgical robotic suturing were described in [15,16], investigating advanced learning techniques, or [17,18], addressing the task using more classical robot motion planning techniques and analytic geometry. Even though surgical suturing tasks have also been automated by designing specific devices, not mimicking at all human gestures [19], the solutions based on general-purpo...

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Section: Related Workmentioning

confidence: 99%

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

et al. 2019

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“…In [10], a feasible path is obtained using a polynomial curvature spiral. In [6], the trajectory generation method generates a smooth path considering the kinodynamic constraints of the vehicle. In [19], trajectories are built using user assigned points and interpolation functions such as cubic splines, trigonometric splines and clothoids.…”

Section: Overview Of Navigation Strategiesmentioning

confidence: 99%

“…tan(e RT ) = tan(e θ − (θ RT − θ)) = e x tan(e θ ) − e y e x + tan(e θ )e y (6) where tan(θ RT − θ) = e y /e x (cf. Fig.…”

Section: Target Reaching Controllermentioning

confidence: 99%

Optimal Multi-Criteria Waypoint Selection for Autonomous Vehicle Navigation in Structured Environment

Vilca

Adouane

Mezouar

2015

J Intell Robot Syst

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This paper deals with autonomous navigation of unmanned ground vehicles (UGV). The UGV has to reach its assigned final configuration in a structured environments (e.g. a warehouse or an urban environment), and to avoid colliding neither with the route boundaries nor any obstructing obstacles. In this paper, vehicle planning/set-points definition is addressed. A new efficient and flexible methodology for vehicle navigation throughout optimal and discrete selected waypoints is proposed. Combining multi-criteria optimization and expanding tree allows safe, smooth and fast vehicle overall navigation. This navigation through waypoints permits to avoid any path/trajectory planning which could be time consuming and complex, mainly in cluttered and dynamic environment. To evaluate the flexibility and the efficiency of the proposed methodology based on expanding tree (taking into account the vehicle model and uncertainties), an important part of this paper is dedicated to give an accurate comparison with another proposed optimization based on the commonly used grid map. A set of simulations, comparison with other methods and experiments, using an urban electric vehicle, are presented and demonstrate the reliability of our proposals.

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“…In [7] a feasible path is obtained using a polynomial curvature spiral. In [8], the trajectory generation method provides a smooth path considering the kinodynamic constraints of http://dx.doi.org/10.1016/j.robot.2015.01.008 0921-8890/© 2015 Elsevier B.V. All rights reserved. the vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…The most popular approaches are based on following a pre-defined reference trajectory [8,9]. Most of the proposed control laws are dedicated to trajectory tracking (to track a time-parametrized reference) [10] and path following (to follow a path without explicit temporal references) [11].…”

Section: Introductionmentioning

confidence: 99%

A novel safe and flexible control strategy based on target reaching for the navigation of urban vehicles

Vilca

Adouane

Mezouar

2015

Robotics and Autonomous Systems

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h i g h l i g h t s• Novel control strategy based on static/dynamic target reaching for autonomous navigation.• Control law is synthesized using a Lyapunov function based on a new set of variables.• Interesting properties of the control law in terms of stability and flexibility. • Sequential target assignment strategy allows performing safe navigation. • Experiments using actual vehicles and several simulations show the advantages of the proposal. a b s t r a c tThis paper presents a complete framework for reactive and flexible autonomous vehicle navigation. A human driver reactively guides a vehicle to the final destination while performing a smooth trajectory and respecting the road boundaries. The objective of this paper is to achieve similar behavior in an unmanned ground vehicle to reach a static or dynamic target location. This is achieved by using a flexible control law based on a novel definition of control variables and Lyapunov synthesis. Furthermore, a target assignment strategy to enable vehicle navigation through successive waypoints in the environment is presented. An elementary waypoint selection method is also presented to perform safe and smooth trajectories. The asymptotic stability of the proposed control strategy is proved. In addition, an accurate estimation of the maximum error boundary, according to the controller parameters, is given. With this indicator, the vehicle navigation will be safe within a certain boundaries. Simulations and experiments are performed in different cases to demonstrate the flexibility, reliability and efficiency of the control strategy. Our proposal is compared with different navigation methods from the literature such as those based on trajectory following.

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Online Trajectory Generation for Mobile Robots with Kinodynamic Constraints and Embedded Control Systems

Cited by 5 publications

References 11 publications

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

Optimal Multi-Criteria Waypoint Selection for Autonomous Vehicle Navigation in Structured Environment

A novel safe and flexible control strategy based on target reaching for the navigation of urban vehicles

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