Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback

David C. Conner, Howie Choset, and Alfred Rizzi
Proceedings of Robotics: Science and Systems II, August, 2006, pp. 57-64.


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Abstract
We present a method for defining a hybrid control system capable of simultaneously addressing the global navigation and control problem for a convex-bodied wheeled mobile robot navigating amongst obstacles. The method uses parameterized continuous local feedback control policies that ensure safe operation over local regions of the free configuration space; each local policy is designed to respect nonholonomic constraints, bounds on velocities (inputs), and obstacles in the environment. The hybrid control system makes use of a collection of these local control policies in concert with discrete planning tools in order to plan, and replan in the face of changing conditions, while preserving the safety and convergence guarantees of the underlying control policies. This work is validated in simulation and experiment with a convex-bodied wheeled mobile robot. The approach is one of the first that combines formal planning with continuous feedback control guarantees for systems subject to nonholonomic constraints, input bounds, and non-trivial body shape.

Keywords
Hybrid controls, mobile robots, nonholonomic systems, sequential composition

Notes
Sponsor: ARO
Grant ID: MURI DAAD 19-02-01-0383
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics
Number of pages: 8

Text Reference
David C. Conner, Howie Choset, and Alfred Rizzi, "Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback," Proceedings of Robotics: Science and Systems II, August, 2006, pp. 57-64.

BibTeX Reference
@inproceedings{Conner_2006_5958,
   author = "David C Conner and Howie Choset and Alfred Rizzi",
   title = "Integrated Planning and Control for Convex-bodied Nonholonomic Systems Using Local Feedback",
   booktitle = "Proceedings of Robotics: Science and Systems II",
   pages = "57-64",
   publisher = "MIT Press",
   address = "Philadelphia, PA",
   month = "August",
   year = "2006",
}