A guaranteed obstacle avoidance guidance system: The safe maneuvering zone

Lionel Lapierre (1) , René Zapata (1)

1 EXPLORE - Robotique mobile pour l'exploration de l'environnement

This paper presents a practical solution to the guidance of a unicycle type robot, including path following, obstacle avoidance and the respect of wheeled actuation saturation constraint, without planning procedure. These results are based on an extension of previous results on path following control including actuation saturation constraints. New solution for obstacle avoidance, with guaranteed performance, is proposed.

Domaines: Automatique / Robotique

Lionel Lapierre, René Zapata. A guaranteed obstacle avoidance guidance system: The safe maneuvering zone. Autonomous Robots, 2012, pp.177-187. ⟨10.1007/s10514-011-9269-5⟩. ⟨hal-00733826⟩