Skip to Main content Skip to Navigation
Theses

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.
Document type :
Theses
Complete list of metadatas

Cited literature [25 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-00011080
Contributor : Emilie Marchand <>
Submitted on : Tuesday, November 22, 2005 - 11:00:01 AM
Last modification on : Thursday, February 27, 2020 - 6:36:02 PM
Long-term archiving on: : Friday, September 14, 2012 - 3:50:35 PM

Identifiers

  • HAL Id : tel-00011080, version 1

Citation

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

Share

Metrics

Record views

439

Files downloads

2791