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Communication Dans Un Congrès Année : 2005

Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation

Résumé

This paper deals with the optimization of Robot-Obstacle interaction computations, in the context of nonholonomic trajectory deformation for mobile robots. We first recall the principle of the trajectory deformation and the role of the potential field gradient in the configuration space. The contribution of the paper is twofold. First we show that the potential field gradient can be computed without any closed-form expression of the potential function if this latter depends only on the distance between the robot and the obstacles. Then an algorithm to filter obstacles that have no influence in Robot-Obstacle interactions is presented. This algorithm takes advantage of the spatial coherence of the planned trajectory, and has been evaluated by experiments on mobile robot Hilare2 towing a trailer. Fig. 1. Application of the trajectory deformation method to the mobile robot Hilare 2 towing a trailer. light dots are obstacles detected by a laser scanner. The robot is at the beginning of the planned trajectory on the left. The trajectory is deformed in such a way that it avoids obstacles, the kinematic constraints keep satisfied and the trajectory starts and end at the same configurations before and after deformation.
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Dates et versions

hal-04189255 , version 1 (28-08-2023)

Identifiants

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Olivier Lefebvre, Florent Lamiraux, David Bonnafous. Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation. IEEE International Conference on Robotics and Automation (ICRA 2005), May 2005, Barcelona, Spain. ⟨10.1109/ROBOT.2005.1570831⟩. ⟨hal-04189255⟩
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