Abstract
This paper addresses two aspects of the navigation problem for a two d.o.f mobile robot (non holomic system): trajectory planning and motion control. Trajectory planning concerns the existence and the generation of a feasible collision-free trajectory, and motion control the actual execution of this trajectory.
The problem has to be solved in constrained and non-constrained environment. We summarize some results previously obtained in non constrained space and develop a general approach for finding feasible trajectory in constrained space. This method is based on a result which characterizes the existence of a feasible trajectory by means of the existence of a connected open component in the admissible configuration space. Its current implementation, based on a configuration space structured into hyper-parallelepipeds, is described.
The trajectory is then analyzed in order to smooth it when possible, using clothoid curves. Its execution is controlled by means of comparing sensor readings with the local environment model along it.
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Laumond, JP., Simeon, T., Chatila, R., Giralt, G. (1989). Trajectory Planning and Motion Control of Mobile Robots. In: Schweitzer, G., Mansour, M. (eds) Dynamics of Controlled Mechanical Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83581-0_27
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DOI: https://doi.org/10.1007/978-3-642-83581-0_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83583-4
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