Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems - Robotics Institute Carnegie Mellon University

Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems

David C. Conner, Howie Choset, and Alfred Rizzi
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 4416 - 4418, May, 2006

Abstract

In this paper, we develop a generic class of control policies that respect nonholonomic constraints and are provably safe with respect to obstacles for a convex-bodied mobile robot. We instantiate this class of policies over local regions of configu- ration space, and compose the resulting local policies to address the global navigation and control problem for a wheeled mobile robot navigating amongst obstacles. Simulation and experimental results are given.

BibTeX

@conference{Conner-2006-9474,
author = {David C. Conner and Howie Choset and Alfred Rizzi},
title = {Towards Provable Navigation and Control of Nonholonomically Constrained Convex-Bodied Systems},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2006},
month = {May},
pages = {4416 - 4418},
}