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ICRA
2005
IEEE

An Integrated Path Planning and Control Framework for Nonholonomic Unicycles

10 years 3 months ago
An Integrated Path Planning and Control Framework for Nonholonomic Unicycles
— In this paper, navigation and control of autonomous mobile unicycle robots in a complex and partially known obstacleridden environment is considered. The unicycle dynamic model used has two differentially-driven wheels, with the two wheel motor torques as the system input. Two novel controllers are derived which stabilize the robot within a surrounding disk-shaped area (henceforth called a bubble) of arbitrary size for any initial velocities. The first controller takes the unicycle to the center of its bubble while the second corrects its orientation. The torque- levels can be controlled by adjusting gains. The control laws are independent of inertial parameters. An existing global planner is used by each robot to create a string of bubbles connecting its start point to its goal point, with each bubble’s size indicative of the radial obstacle-clearance available from its center. Each robot then uses its local bubble-controllers to follow its global planned path. This method is t...
Kaustubh Pathak, Sunil Kumar Agrawal
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Kaustubh Pathak, Sunil Kumar Agrawal
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