Mobile Robot Navigation in Cluttered Environment using Reactive Elliptic Trajectories

Abstract : Reactive navigation in very cluttered environment while insuring maximum safety and task efficiency is a challenging subject. This paper proposes online and adaptive elliptic trajectories to perform smooth and safe mobile robot navigation. These trajectories use limit-cycle principle already applied in the literature but with the difference that the applied limit-cycles are now elliptic (not circular) and are more generic and flexible to perform navigation in environments with different kinds of obstacles shape. The set points given to the robot are generated while following reactive obstacle avoidance algorithm embedded in a multi-controller architecture (Obstacle avoidance and Attraction to the target controllers). This algorithm uses specific reference frame which gives accurate indication of robot situation. The robot knows thus if it must avoid the obstacle in clockwise or counterclockwise direction and prevent robot from local minima, dead ends and oscillations. The stability of the proposed bottom-up control architecture is proved according to Lyapunov synthesis. Simulations and experiments in different environments are performed to demonstrate the efficiency and the reliability of the proposed control architecture.
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https://hal.archives-ouvertes.fr/hal-01714859
Contributeur : Lounis Adouane <>
Soumis le : mardi 10 avril 2018 - 18:19:08
Dernière modification le : mercredi 31 octobre 2018 - 17:42:02

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  • HAL Id : hal-01714859, version 1

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Lounis Adouane, Ahmed Benzerrouk, Philippe Martinet. Mobile Robot Navigation in Cluttered Environment using Reactive Elliptic Trajectories. 18th IFAC World Congress, Sep 2011, Milano, Italy. 〈hal-01714859〉

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