Sensor-based planning and control algorithms for a mobile robot over a given global planning

A sensor-based planning algorithm for mobile robots in complex workspaces given a global plan is investigated. An issue of workspace recognition effort is tackled by the proposed algorithm. An integrated planning and control scheme is proposed as well. The local planning algorithm uses information o...

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Published in:Proceedings of the 30th Chinese Control Conference pp. 3610 - 3614
Main Authors: Pamosoaji, Anugrah K., Widyotriatmo, Augie, Keum-Shik Hong
Format: Conference Proceeding
Language:English
Published: IEEE 01.07.2011
Subjects:
Collision avoidance
Global And Local Planning Integration
Lyapunov-Based Control
Mobile robots
Planning
Robot sensing systems
Sensor-Based Planning
Vehicles
ISBN:9781457706776, 1457706776
ISSN:1934-1768
Online Access:Get full text
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Abstract A sensor-based planning algorithm for mobile robots in complex workspaces given a global plan is investigated. An issue of workspace recognition effort is tackled by the proposed algorithm. An integrated planning and control scheme is proposed as well. The local planning algorithm uses information of via-points from a global planning algorithm to generate the local path. Moreover, the local planning algorithm will generate a sub-via-point once an obstacle detected in the sensing area. A Lyapunov-based control law for tracking the current sub-via-point or the current via-point is introduced. A simulation which shows path, linear velocity, and angular velocity generated by the control design to drive the robot to the current via-point or sub-via-point is presented.
AbstractList A sensor-based planning algorithm for mobile robots in complex workspaces given a global plan is investigated. An issue of workspace recognition effort is tackled by the proposed algorithm. An integrated planning and control scheme is proposed as well. The local planning algorithm uses information of via-points from a global planning algorithm to generate the local path. Moreover, the local planning algorithm will generate a sub-via-point once an obstacle detected in the sensing area. A Lyapunov-based control law for tracking the current sub-via-point or the current via-point is introduced. A simulation which shows path, linear velocity, and angular velocity generated by the control design to drive the robot to the current via-point or sub-via-point is presented.
Author Pamosoaji, Anugrah K.
Widyotriatmo, Augie
Keum-Shik Hong
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  givenname: Augie
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  surname: Keum-Shik Hong
  fullname: Keum-Shik Hong
  email: kshong@pusan.ac.kr
  organization: Dept. of Cogno-Mechatron. Eng., Pusan Nat. Univ., Pusan, South Korea
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Snippet A sensor-based planning algorithm for mobile robots in complex workspaces given a global plan is investigated. An issue of workspace recognition effort is...
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StartPage 3610
SubjectTerms Collision avoidance
Global And Local Planning Integration
Lyapunov-Based Control
Mobile robots
Planning
Robot sensing systems
Sensor-Based Planning
Vehicles
Title Sensor-based planning and control algorithms for a mobile robot over a given global planning
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