Local path planning for mobile robots based on intermediate objectives

Yingchong Ma 1 Gang Zheng 2, 1 Wilfrid Perruquetti 3, 4, 2 Zhaopeng Qiu 1
2 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
4 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : This paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real time environment.
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Yingchong Ma, Gang Zheng, Wilfrid Perruquetti, Zhaopeng Qiu. Local path planning for mobile robots based on intermediate objectives. Robotica, Cambridge University Press, 2014, pp.1-15. ⟨10.1017/S0263574714000186⟩. ⟨hal-00960019⟩

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