Toward Smooth and Stable Reactive Mobile Robot Navigation using On-line Control Set-points

Lounis Adouane (1)

1 IP - Institut Pascal

— This paper deals with the challenging issue of on-line mobile robot navigation in cluttered environment. Indeed, it is considered in this work, a mobile robot discovering the environment during its navigation, it should thus, to react to unexpected events (e.g., obstacles to avoid) while guaranteeing to reach its objective. Nevertheless, in addition to avoid safely and on-line these obstacles, it is proposed to enhance the smoothness of the obtained robot trajectories. Otherwise, to quantify this smoothness, suitable indicators were used. Specifically, this paper proposes to appropriately link on-line set-points defined using elliptic limit-cycle trajectories with a multi-controller architecture which guarantees the stability (according to Lyapunov synthesis) and the smoothness of the switch between controllers. Moreover, a comparison between fully reactive mode (the aim of this paper) and planned mode is given through the proposed control architecture which could exhibits the two aspects. Many simulations in cluttered environments permit to confirm the reliability and the robustness of the overall proposed reactive control.

Domaines: Automatique / Robotique; Automatique; Intelligence artificielle [cs.AI]; Robotique [cs.RO]; Systèmes et contrôle [cs.SY]

Lounis Adouane. Toward Smooth and Stable Reactive Mobile Robot Navigation using On-line Control Set-points. IEEE/RSJ, IROS'13, 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, Nov 2013, Tokyo, Japan. ⟨hal-01714843⟩