Planification de chemins à courbure continue pour robot mobile non-holonome

Alexis Scheuer 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes
Abstract : This PhD thesis addresses path planning for a car-like robot. Only the geometric aspects of the movement are considered (velocity is ignored), and two constraints are considered which restrict the movement: the instantaneous direction of the movement of the robot remains parallel to its main axis, and its turning radius is lower bounded. To date, all the existing works on this subject generate Dubins' paths made of circular arcs of minimum radius tangentially connected by line segments. These paths are locally optimal in length, but a vehicle cannot follow them precisely because of the discontinuity of their curvature (the vehicle has to stop at each discontinuity to reorient its directing wheels). To solve this problem, we developed a method that generates paths with a continuous curvature profile and a bounded derivative of the curvature (the latter constraint stems from the fact that the robot can reorient its directing wheels with a finite speed only). The main contribution of this thesis is to define a set of paths respecting these constraints, while being very close to the locally optimal Dubins paths. This thesis report is divided into three parts. The first part presents a review of the works related to path planning for mobile robots, along with the proof of the characteristics of the considered planning problem (the commandability of the robot and the typ e of the optimal paths) and the justification of the approach chosen to solve this problem. The second part of this thesis report presents a first approach of continuous-curvature path planning, in which only the curvature's continuity constraint is added to the classical problem of planning paths without manoeuvre. Finally, the last part considers the full problem (curvature continuity and upper bounded curvature derivative) and gives a sub-optimal solution to this problem. In parts two and three, a local \(non complete) planner is first defined, then a global (complete) planner is constructed. The results obtained with these planners are illustrated by experiments in simulation and on a real vehicle.
Document type :
Theses
Human-Computer Interaction [cs.HC]. Institut National Polytechnique de Grenoble - INPG, 1998. French


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Submitted on : Thursday, September 26, 2002 - 6:01:15 PM
Last modification on : Thursday, April 22, 2010 - 11:47:19 AM

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Alexis Scheuer. Planification de chemins à courbure continue pour robot mobile non-holonome. Human-Computer Interaction [cs.HC]. Institut National Polytechnique de Grenoble - INPG, 1998. French. <tel-00001746>

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