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

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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.


@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},
} 2017-09-13T10:42:46-04:00