Title :
Dynamic speed planning for safe navigation
Author :
Mandow, A. ; Muñoz, V.F. ; Fernández, R. ; García-Cerezo, A.
Author_Institution :
Dept. de Ingenieria de Sistemas y Autom., Malaga Univ., Spain
Abstract :
The paper deals with speed control for autonomous mobile robots. First a trajectory planner attaches a speed component to the postures of a path by considering speed limitations introduced by the vehicle and by task specifications. In order to provide robustness during task execution in the real world, environment feedback is used to dynamically adjust the speed of the vehicle to the presence of unexpected obstacles, both static and mobile. This is accomplished by combining the planned speed profile with the outputs of two reactive controllers. The system has been successfully implemented within the control architecture of the RAM-2 mobile robot
Keywords :
computerised navigation; feedback; mobile robots; path planning; robot dynamics; robust control; vehicles; velocity control; RAM-2 mobile robot; autonomous mobile robots; control architecture; dynamic speed planning; environment feedback; safe navigation; speed control; task specifications; trajectory planner; Feedback; Kinematics; Mobile robots; Navigation; Nonlinear dynamical systems; Remotely operated vehicles; Robustness; Sensor systems; Vehicle dynamics; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.649059
