/Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems

Towards Provable Navigation and Control of Nonholonomically Constrained Convex-BodiedSystems

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

Download Publication (PDF)

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.

BibTeX Reference
@conference{Conner-2006-9474,
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)},
year = {2006},
month = {May},
}
2017-09-13T10:42:46+00:00