H. Jaouni

Publications (2)0 Total impact

• Chapter: How to implement dynamic paths

  M. Khatib, H. Jaouni, R. Chatila, J.-P. Laumond
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  ABSTRACT: Sensor-based dynamic path modification is one of powerful issues to combine planning and reactive control. This paper treats problems related to flexible trajectories implementation and presents solutions to connect functional levels from the planning to the execution. A general dynamic path structure is proposed and discussed including execution needs and constraints. Implementation algorithms are then developed and presented for general metrics and execution contexts. Finally, solutions for car-like mobile robots are encapsulated in a complete system joining these different levels and mange there functional coherence.
  12/2007: pages 289-300;
• Conference Proceeding: Dynamic path modification for car-like nonholonomic mobile robots

  M. Khatib, H. Jaouni, R. Chatila, J.P. Laumond
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  ABSTRACT: A method combining planning and reactive control for car-like nonholonomic mobile robots is discussed. Firstly, a “bubble” for a car-like mobile robot is defined as the locally reachable space from a given configuration considering the obstacles and using the appropriate metric. Then a flexible feasible trajectory, based on the elastic band concepts, is constructed. This trajectory is smoothed using Bezier curves satisfying a minimum curvature constraint, and a parameterization is proposed which satisfies the robot kinematics constraints
  Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on; 05/1997