Cart (Loading....) | Create Account
Close category search window
 

Sequential Composition for Navigating a Nonholonomic Cart in the Presence of Obstacles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kallem, V. ; Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA ; Komoroski, A.T. ; Kumar, V.

In this study, we consider the problem of safely steering a planar nonholonomic cart around obstacles to reach a goal state. We achieve this by the decomposition of the free workspace into triangular tori and generation of local smooth feedback laws that drive the robot from one cell to an adjoining cell. These control laws exploit the fact that for nonholonomic systems, one can generate smooth controllers to reach a particular subset in the configuration space, even though smooth feedback laws cannot be obtained to reach a particular state. These local controllers are then sequenced using discrete motion planning algorithms like A* or incremental D* to reach the goal. We demonstrate the practical efficacy of this methodology by applying it to two experimental platforms: (1) a differential drive robot in which inertial effects are negligible and (2) a hexapedal robot in which inertial effects are significant but difficult to model. In both cases, we use the abstraction of a planar kinematic cart with process noise to develop feedback controllers. We present successful implementation of the controllers to navigate the hexapedal robot in both static and dynamic environments with obstacles.

Published in:

Robotics, IEEE Transactions on  (Volume:27 ,  Issue: 6 )

Date of Publication:

Dec. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.