Skip to Main content Skip to Navigation
Conference papers

Motion planning for non-holonomic mobile robots using the i-PID controller and potential field

Yingchong Ma 1 Gang Zheng 1, 2 Wilfrid Perruquetti 1, 2, 3 Zhaopeng Qiu 2
1 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : — This paper proposes a motion planning approach for non-holonomic mobile robots. Firstly, motion planning using i-PID controller is presented. Then we improve the old potential field function to produce smooth repulsive force. Finally a new repulsive function of robot orientation and angular velocity is proposed to improve the performance of obstacle avoidance. The effectiveness and the robustness of the proposed method are shown thereafter via several simulations.
Document type :
Conference papers
Complete list of metadatas

Cited literature [18 references]  Display  Hide  Download

https://hal.inria.fr/hal-01071506
Contributor : Gang Zheng <>
Submitted on : Thursday, October 30, 2014 - 11:26:47 AM
Last modification on : Tuesday, September 29, 2020 - 12:24:14 PM
Long-term archiving on: : Monday, February 2, 2015 - 3:36:58 PM

File

IROS2014.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01071506, version 1

Citation

Yingchong Ma, Gang Zheng, Wilfrid Perruquetti, Zhaopeng Qiu. Motion planning for non-holonomic mobile robots using the i-PID controller and potential field. IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2014, Sep 2014, Chicago, United States. ⟨hal-01071506⟩

Share

Metrics

Record views

495

Files downloads

668