Smooth Local Planning Incorporating Steering Constraints
| Autor: | Cédric Pradalier, Wolfram Burgard, Freya Fleckenstein, Christian Dornhege, Wera Winterhalter |
|---|---|
| Přispěvatelé: | Department of Computer Science [Freiburg], University of Freiburg [Freiburg], Georgia Tech Lorraine [Metz], Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Ecole Supérieure d'Electricité - SUPELEC (FRANCE)-Georgia Institute of Technology [Atlanta]-CentraleSupélec-Ecole Nationale Supérieure des Arts et Metiers Metz-Centre National de la Recherche Scientifique (CNRS), Pradalier, Cedric |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0106 biological sciences
Flexibility (engineering) 0209 industrial biotechnology Computer science [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO] Context (language use) 02 engineering and technology 01 natural sciences Motion (physics) 020901 industrial engineering & automation Control theory 11. Sustainability Path (graph theory) Local planning Key (cryptography) Robot [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Instant centre of rotation 010606 plant biology & botany |
| Zdroj: | 12th Conference Field and Service Robotics 12th Conference Field and Service Robotics, Aug 2019, Tokyo, Japan Field and Service Robotics ISBN: 9789811594595 |
| Popis: | Individually controllable and steerable wheels provide vehicles with greater flexibility and efficiency. A key challenge in the context of such vehicles lies in the effective planning of the motion commands in order to properly deal with the potentially large required changes in the steering angles and to properly incorporate the given motion constraints. Especially large vehicles often perform large steering angle changes only while standing to prevent physical damage to the robot. In this paper, we introduce a novel planner for vehicles with individually controllable and steerable wheels and two novel methods to incorporate steering constraints. The latter are designed to provide smooth changes of the instantaneous center of rotation (ICR). Extensive experiments in simulation and on the real robot reveal that our methods allow for an effective planning of steering commands, reduce the travel time by decreasing the time spent standing for wheel reconfigurations, and additionally enable the vehicle to accurately follow a given path. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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