MINES ParisTech CAS - Centre automatique et systèmes

Experiments of trajectory generation and obstacle avoidance for a UGV

Authors: David Vissière, Dong Eui Chang, Nicolas Petit, 2007 American Control Conference, pp. 2828-2835, July 11-13, 2007, New York City, USA DOI: 10.1109/ACC.2007.4283088
In this paper, we report results of investigations conducted on a mobile robotic experiment developed at the DGA Laboratoire de Recherche en Balistique et Aérodynamique in a joint work with Ecole des Mines. The vehicles under consideration are in fact similar to unicycles. We investigate a flatness based approach (combining open-loop optimization and closed loop tracking) and gyroscopic forces control laws. Experimental results are exposed. A theoretical proof of obstacle avoidance for a gyroscopic scheme is presented.
Download PDF
BibTeX:
@Proceedings{,
author = {David Vissière, Dong Eui Chang, Nicolas Petit},
editor = {},
title = {Experiments of trajectory generation and obstacle avoidance for a UGV},
booktitle = {2007 American Control Conference},
volume = {},
publisher = {},
address = {New York City, USA},
pages = {2828-2835},
year = {2007},
abstract = {In this paper, we report results of investigations conducted on a mobile robotic experiment developed at the DGA Laboratoire de Recherche en Balistique et Aérodynamique in a joint work with Ecole des Mines. The vehicles under consideration are in fact similar to unicycles. We investigate a flatness based approach (combining open-loop optimization and closed loop tracking) and gyroscopic forces control laws. Experimental results are exposed. A theoretical proof of obstacle avoidance for a gyroscopic scheme is presented.},
keywords = {}}