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Performance-based reactive navigation for non-holonomic mobile robots

Published online by Cambridge University Press:  01 March 2009

Michael Defoort ,
Jorge Palos ,
Annemarie Kokosy ,
Thierry Floquet  and
Wilfrid Perruquetti
Michael Defoort*
Affiliation:
Department of System Design Engineering, Keio University, Yokohama, Japan.
Jorge Palos
Affiliation:
ISEN, 41 bvd Vauban, 59 046 Lille Cedex, France.
Annemarie Kokosy
Affiliation:
ISEN, 41 bvd Vauban, 59 046 Lille Cedex, France. LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP 48, Cité Scientifique, 59651 Villeneuve-d'Ascq, France.
Thierry Floquet
Affiliation:
LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP 48, Cité Scientifique, 59651 Villeneuve-d'Ascq, France.
Wilfrid Perruquetti
Affiliation:
LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP 48, Cité Scientifique, 59651 Villeneuve-d'Ascq, France.
*
*Corresponding author. E-mail: defoort@sum.sd.keio.ac.jp
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Summary

This paper presents an architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles. Instead of addressing the motion planning and control problems in different contexts, these issues are described in connected modules with performance requirement considerations. The path planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines non-linear control theory, B-spline basis function and non-linear programming. An integral sliding mode controller is used for trajectory tracking. The closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances. It is also shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations. The effectiveness, perfect performance of obstacle avoidance, real time and high robustness properties are demonstrated by experimental results.

Keywords

Non-holonomic mobile robotsReactive navigationReceding horizon planningSliding mode control
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 281 - 290
Copyright
Copyright © Cambridge University Press 2008

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