ICRA 2012 Paper Abstract

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Paper TuA04.3

Nagarajan, Umashankar (Carnegie Mellon University), Kantor, George (Carnegie Mellon University), Hollis, Ralph (Carnegie Mellon University)

Integrated Planning and Control for Graceful Navigation of Shape-Accelerated Underactuated Balancing Mobile Robots

Scheduled for presentation during the Regular Session "Underactuated Robots" (TuA04), Tuesday, May 15, 2012, 09:00−09:15, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Underactuated Robots, Nonholonomic Motion Planning, Motion and Path Planning

Abstract

This paper presents controllers called motion policies that achieve fast, graceful motions in small, collision-free domains of the position space for balancing mobile robots like the ballbot. The motion policies are designed such that their valid compositions will produce overall graceful motions. An automatic instantiation procedure deploys motion policies on a 2D map of the environment to form a library and the validity of their composition is given by a gracefully prepares graph. Dijsktra's algorithm is used to plan in the space of these motion policies to achieve the desired navigation task. A hybrid controller is used to switch between the motion policies. The results of successful experimental testing of two navigation tasks, namely, point-point and surveillance motions on the ballbot platform are presented.

 

 

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