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Local path planning for mobile robots based on intermediate objectives

Published online by Cambridge University Press:  01 April 2014

Yingchong Ma ,
Gang Zheng ,
Wilfrid Perruquetti  and
Zhaopeng Qiu
Yingchong Ma*
Affiliation:
LAGIS CNRS UMR 8219, Ecole Centrale de Lille, BP 48, 59651 Villeneuve d'Ascq, France
Gang Zheng
Affiliation:
Non-A Team, INRIA – Lille Nord Europe, 40 Avenue Halley, 59650 Villeneuve d'Ascq, France
Wilfrid Perruquetti
Affiliation:
LAGIS CNRS UMR 8219, Ecole Centrale de Lille, BP 48, 59651 Villeneuve d'Ascq, France Non-A Team, INRIA – Lille Nord Europe, 40 Avenue Halley, 59650 Villeneuve d'Ascq, France
Zhaopeng Qiu
Affiliation:
LAGIS CNRS UMR 8219, Ecole Centrale de Lille, BP 48, 59651 Villeneuve d'Ascq, France
*
*Corresponding author. E-mail: yingchong.ma@ec-lille.fr
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Summary

This paper presents a path planning algorithm for autonomous navigation of non-holonomic mobile robots in complex environments. The irregular contour of obstacles is represented by segments. The goal of the robot is to move towards a known target while avoiding obstacles. The velocity constraints, robot kinematic model and non-holonomic constraint are considered in the problem. The optimal path planning problem is formulated as a constrained receding horizon planning problem and the trajectory is obtained by solving an optimal control problem with constraints. Local minima are avoided by choosing intermediate objectives based on the real-time environment.

Keywords

Mobile robotsMotion planningNavigationPath planningNon-holonomic robots

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Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 1017 - 1031
Copyright
Copyright © Cambridge University Press 2014 

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