Sensor-Based Planning and Control Algorithms for a Mobile Robot over a Given Global Planning

摘要：

A sensor-based planning algorithm for mobile robots in complex workspaces given a global plan is investigated.An issue of workspace recognition effort is tackled by the proposed algorithm.An integrated planning and control scheme is proposed as well.The local planning algorithm uses information of via-points from a global planning algorithm to generate the local path.Moreover,the local planning algorithm will generate a sub-via-point once an obstacle detected in the sensing area.A Lyapunov-based control law for tracking the current sub-via-point or the current via-point is introduced.A simulation which shows path,linear velocity,and angular velocity generated by the control design to drive the robot to the current via-point or sub-via-point is presented.

作者: Anugrah k.PAMOSOAJI Augie WIDYOTRIATMO Keum-Shik HONG

作者单位: School of Mechanical Engineering,Pusan National University,Korea Department of Cogno-Mechatronics Engineering and School of Mechanical Engineering,Pusan National Uni

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-5

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）