Docking task for nonholonomic mobile robots

Author

Lefebvre, Olivier ; Lamiraux, Florent

Author_Institution

LAAS-CNRS, Toulouse

fYear

2006

fDate

15-19 May 2006

Firstpage

3736

Lastpage

3741

Abstract

This paper presents a framework for precise parking for nonholonomic mobile robots: the docking task. It consists in following a planned trajectory and reaching a docking configuration, defined relatively to the environment. The trajectory is deformed in order to reach the docking configuration, to avoid obstacles and to keep the nonholonomic constraints satisfied. A generic framework to compute the docking configuration is presented. Then we give the principle of a nonholonomic path deformation method that was used to deform the planned trajectory towards the docking configuration. This framework has been tested on a real robot with a trailer in a realistic scenario

Keywords

automated highways; collision avoidance; mobile robots; motion control; road vehicles; docking configuration; docking task; nonholonomic mobile robots; nonholonomic path deformation; obstacles avoidance; planned trajectory; Cameras; Intelligent robots; Intelligent transportation systems; Mobile robots; Process planning; Remotely operated vehicles; Road transportation; Robot vision systems; Testing; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642273

Filename

1642273