Sensor-based trajectory deformation: Application to reactive navigation of nonholonomic robots

被引：0

作者：

Lamiraux F. ^{[1
]}

Lefebvre O. ^{[1
]}

机构：

[1] LAAS, CNRS, Toulouse 31077

来源：

Lecture Notes in Control and Information Sciences | 2010年 / 401卷

关键词：

Deformation process - Infinitesimal perturbations - Input functions - Input perturbation - Non-holonomic robot - Objective functions - Reactive navigation - Wheeled mobile robot;

D O I：

10.1007/978-1-84996-089-2_17

中图分类号：

学科分类号：

摘要：

In this chapter, we present a sensor-based trajectory deformation process for nonholonomic robots. The method is based on infinitesimal perturbations of the input functions of the current trajectory. Input perturbation is computed in such a way that a an objective function decreases and that the trajectory initial and final configurations are kept unchanged. The method is then extended to docking for wheeled mobile robots. The final configuration of the deformation process is moved to a configuration in order to make perception fit a docking pattern. The method is demonstrated on mobile robot Hilare 2 towing a trailer. © 2010 Springer-Verlag London.

引用

页码：315 / 334

页数：19

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