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Exécution réactive de trajectoires pour robots mobiles non-holonomes

Abstract : This report addresses the problem of trajectory following for a wheeled mobile robot with nonholonomic constraints. The aim is to develop a method to avoid the collisions caused by erroneous localization of the robot in its environment, by unknown obstacles and the inaccuracy of the map. This method uses a generic technique to deform the trajectory. The obstacles perceived by the robot produce some virtual forces that push away the trajectory according to the nonholonomic constraints. We describe precisely how to compute virtual forces for differents kinds of robots. The algorithm to simultaneously deform and follow a trajectory that take into account the kinematics boundary of the robot is presented. Some experimental results onboard real robots are shown.
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Contributor : Emilie Marchand Connect in order to contact the contributor
Submitted on : Tuesday, November 22, 2005 - 11:00:01 AM
Last modification on : Tuesday, October 25, 2022 - 11:58:10 AM
Long-term archiving on: : Friday, September 14, 2012 - 3:50:35 PM


  • HAL Id : tel-00011080, version 1


David Bonnafous. Exécution réactive de trajectoires pour robots mobiles non-holonomes. Automatique / Robotique. Institut National Polytechnique de Toulouse - INPT, 2003. Français. ⟨NNT : ⟩. ⟨tel-00011080⟩



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