Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems

David C. Conner, Howie Choset, and Alfred Rizzi
Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.


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Abstract
In this paper, we develop a generic class of control policies that respect nonholonomic constraints and are provably safe with respect to obstacles for a convex-bodied mobile robot. We instantiate this class of policies over local regions of configu- ration space, and compose the resulting local policies to address the global navigation and control problem for a wheeled mobile robot navigating amongst obstacles. Simulation and experimental results are given.

Notes
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics
Number of pages: 3

Text Reference
David C. Conner, Howie Choset, and Alfred Rizzi, "Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems," Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.

BibTeX Reference
@inproceedings{Conner_2006_5456,
   author = "David C Conner and Howie Choset and Alfred Rizzi",
   title = "Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems",
   booktitle = "Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06)",
   month = "May",
   year = "2006",
}