Reactive path deformation for nonholonomic mobile robots

This paper presents a novel and generic approach of path optimization for nonholonomic systems. The approach is applied to the problem of reactive navigation for nonholonomic mobile robots in highly cluttered environments. This is a collision-free initial path being given for a robot, and obstacles detected while following this path can make it in collision. The current path is iteratively deformed in order to get away from obstacles and satisfy the nonholonomic constraints. The core idea of the approach is to perturb the input functions of the system along the current path in order to modify this path, making an optimization criterion decrease.

[1]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[2]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[3]  J. Laumond.  Controllability of a multibody mobile robot , 1991 .

[4]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[5]  Richard M. Murray,et al.  Steering Nonholonomic Control Systems Using Sinusoids , 1993 .

[6]  Zexiang Li,et al.  Optimal Nonholonomic Motion Planning for a Falling Cat , 1993 .

[7]  C. Samson.  Control of chained systems application to path following and time-varying point-stabilization of mobile robots , 1995, IEEE Trans. Autom. Control..

[8]  Sean Quinlan.  Real-time modification of collision-free paths , 1994 .

[9]  Mark H. Overmars,et al.  Coordinated motion planning for multiple car-like robots using probabilistic roadmaps , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[10]  O. J. Sørdalen,et al.  Exponential stabilization of nonholonomic chained systems , 1995, IEEE Trans. Autom. Control..

[11]  John T. Wen,et al.  A path space approach to nonholonomic motion planning in the presence of obstacles , 1997, IEEE Trans. Robotics Autom..

[12]  Jean-Paul Laumond,et al.  Dynamic path modification for car-like nonholonomic mobile robots , 1997, Proceedings of International Conference on Robotics and Automation.

[13]  Paolo Fiorini,et al.  Motion Planning in Dynamic Environments Using Velocity Obstacles , 1998, Int. J. Robotics Res..

[14]  Mark H. Overmars,et al.  Probabilistic path planning , 1998 .

[15]  Giuseppe Oriolo,et al.  Feedback control of a nonholonomic car-like robot , 1998 .

[16]  Jean-Paul Laumond,et al.  Guidelines in nonholonomic motion planning for mobile robots , 1998 .

[17]  Florent Lamiraux,et al.  Motion planning and control for Hilare pulling a trailer , 1999, IEEE Trans. Robotics Autom..

[18]  Oliver Brock,et al.  Real-time re-planning in high-dimensional configuration spaces using sets of homotopic paths , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[19]  Thierry Siméon,et al.  Computer aided motion: Move3D within MOLOG , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[20]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[21]  Kevin M. Lynch,et al.  Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems , 2001, IEEE Trans. Robotics Autom..

[22]  Christian Laugier,et al.  Towards real-time global motion planning in a dynamic environment using the NLVO concept , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  James P. Ostrowski,et al.  Motion planning for heterogeneous modular mobile systems , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[24]  Florent Lamiraux,et al.  Sensor based trajectory following for nonholonomic systems in highly cluttered environment , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[25]  Florent Lamiraux,et al.  Path Optimization for Nonholonomic Systems: Application to Reactive Obstacle Avoidance and Path Planning , 2003, Control Problems in Robotics.

[26]  Jean-Paul Laumond,et al.  Trailer-truck trajectory optimization , 2005 .

[27]  Florent Lamiraux,et al.  Trailer truck trajectory optimization: the transportation of components for the Airbus A380 , 2005, IEEE Robotics & Automation Magazine.