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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Veröffentlicht in:	Proceedings of the 30th Chinese Control Conference S. 3610 - 3614
Hauptverfasser:	Pamosoaji, Anugrah K., Widyotriatmo, Augie, Keum-Shik Hong
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 01.07.2011
Schlagworte:	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-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	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.
ISBN:	9781457706776 1457706776
ISSN:	1934-1768