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Accounting for mobile robot dynamics in sensor-based motion planning: experimental results

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3 Author(s)
Alvarez, J.C. ; Robotics Lab., Wisconsin Univ., Madison, WI, USA ; Shkel, A. ; Lumelsky, V.

The effect of robot dynamics on autonomous navigation is a key issue in sensor-based motion planning. In most of existing works, the solution is attempted by separating the planning and control into two sequential stages; as a minus, this may, for example, adversely effect the algorithm convergence. The strategy proposed in this paper solves the problem by combining motion planning and control within a single-stage procedure. The procedure exhibits good dynamic behavior, while providing safety (collision avoidance) and fast response. Results of testing the approach on a commercial Nomad-200 mobile robot are presented. Also discussed is the effect of model parameters on motion performance

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:3 )

Date of Conference:

16-20 May 1998