|
|
|
|
RI | Publications | Towards Provable Navigation and Control of
Nonholonomically Constrained Convex-BodiedSystems
|
|
Text only version of this site
Towards Provable Navigation and Control of
Nonholonomically Constrained Convex-BodiedSystems
D.C. Conner, H. Choset, and A. Rizzi
Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [150 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| 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 labs/groups: Biorobotics and Microdynamic Systems Laboratory
Number of pages: 3
| Text Reference |
D.C. Conner, H. Choset, and A. 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"
}