Paper Info
Title
Integrated Planning and Control for Convex-bodied Nonholonomic Systems using Local Feedback Control Policies
Abstract
We present a method for defining a hybrid control system capable of simultaneously addressing the global naviga- tion and control problem for a convex-bodied wheeled mobile robot navigating amongst obstacles. The method uses param- eterized continuous local feedback control policies that ensure safe operation over local regions of the free configuration space ; each local policy is designed to respect nonholonomic constraints, bounds on velocities (inputs), and obstacles in the environment. The hybrid control system makes use of a collection of these local control policies in concert with discrete planning tools in order to plan, and replan in the face of changing conditions, while preserving the safety and convergence guarantees of the underlying control policies. This work is validated in simulation and experiment with a convex-bodied wheeled mobile robot. The approach is one of the first that combines formal planning with continuous feedback control guarantees for systems subject to nonholonomic constraints, input bounds, and non-trivial body shape.
Year
Venue
Keywords
2006
Robotics: Science and Systems
nonholonomic system,configuration space,body shape,feedback control,convex body
Field
DocType
Citations 
Convergence (routing),Parameterized complexity,Computer science,Control theory,Control system,Integrated business planning,Nonholonomic system,Mobile robot,Seven Management and Planning Tools,Configuration space
Conference
27
PageRank 
References 
Authors
2.16
28
3
Name
Order
Citations
PageRank
David C. Conner117416.75
Howie Choset22826257.12
Alfred A. Rizzi31208179.03