Dynamic Motion Planning of Autonomous Off-Road Vehicles

Moez Cherif 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : We describe in this paper a new motion planning approach for a non-holonomic mobile robot moving on a uneven terrain and subject to strong physical interaction constraints. The novelty of this method is that it deals with the dynamics of the robot and its physical interactions with the terrain at the planning time, together with the kinematic and the geometric constraints of the task. The planner basically combines a \it geometry based reasoning strategy operating on a subset of the configuration space of the robot, and a \it local continuous motion generation technique based on the use of a physical model of the task. We will describe each level and its corresponding models, and present how they are integrated in order to find safe and executable motions for a rover.
Type de document :
RR-2370, INRIA. 1994
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Soumis le : mercredi 24 mai 2006 - 15:01:21
Dernière modification le : mercredi 11 avril 2018 - 01:54:21
Document(s) archivé(s) le : mardi 12 avril 2011 - 16:28:54



  • HAL Id : inria-00074306, version 1



Moez Cherif. Dynamic Motion Planning of Autonomous Off-Road Vehicles. RR-2370, INRIA. 1994. 〈inria-00074306〉



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