ICRA 2011 Paper Abstract

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Paper WeA103.2

Morette, Nicolas (Lab. Vision & Robotique de Bourges), Novales, Cyril (PRISME Laboratory), Josserand, Laurence (Université d'Orléans), Vieyres, Pierre (Institut PRISME, Universite d'Orleans)

Direct Model Navigation Issue Shifted in the Continuous Domain by a Predictive Control Approach for Mobile Robots

Scheduled for presentation during the Regular Sessions "Autonomous Navigation III" (WeA103), Wednesday, May 11, 2011, 08:35−08:50, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Autonomous Navigation, Nonholonomic Motion Planning, Kinematics

Abstract

This paper presents a new navigation method for mobile robots, based on direct kinematics model and predictive control approach. It is adaptable to all types of robots taking into account their specific constraints. The research of the optimal trajectory is shifted in the continuous parameters space, which enables the exploitation of all of the robot’s capabilities. The use of a stochastic algorithm enables the determination of obstacle bypass trajectories, and simulation results show that the navigation in cluttered environment is improved.

 

 

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