This paper presents the path planning/control method of a car-like mobile robot. The proposed two-stage path planner consists of the global path planner and the local path planner. The global path planner finds collision-free paths from an environmental map, which features universal consideration of the topological configuration of all obstacles by the method of Maklink Graph. The local path planner/controller linearises the robot dynamics by using the chained form and accomplishes a closed-loop control. This satisfies the nonholonomic constraints and obtains robustness toward model errors, drift and disturbances. Obstacle avoidance experiments show that the proposed method can successfully plan a collision-free path in a cluttered environment and navigate the robot to the goal with high trajectory accuracy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A study of autonomous mobile system in outdoor environment. III. Local path planning for a nonholonomic mobile robot by chained form


    Contributors:
    Takiguchi, J. (author) / Hallam, J. (author)


    Publication date :

    1999-01-01


    Size :

    548298 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Generalized Path Corridor-based Local Path Planning for Nonholonomic Mobile Robot

    Wang, Qi / Wieghardt, Christian Sebastian / Jiang, Yan et al. | IEEE | 2015


    A Forward March Path-Planning Algorithm for Nonholonomic Mobile Robot

    Rohmer, S. / International Federation of Automatic Control / Centre national de la recherche scientifique; Laboratoire d'automatique et d'analyse des systemes et al. | British Library Conference Proceedings | 1996


    Exponential Stabilization of Nonholonomic Systems Described by Chained Form

    Narikiyo, T. / Sugita, S. | British Library Online Contents | 1996


    AUTONOMOUS MOBILE ROBOT FOR OUTDOOR APPLICATIONS

    BANGALORE SRINIVAS VENKATESH PRASAD / CHINATALAPALLI PATTA VENKAT RAJU / KAMBLE PRADEEP PRABHAKAR et al. | European Patent Office | 2021

    Free access

    Autonomous Mobile Outdoor Ground Treatment Robot

    ULLRICH MARTIN / KELLER SVEN / FAILENSCHMID MARTIN et al. | European Patent Office | 2023

    Free access