J. Hallam

Publications (1)0 Total impact

• Conference Proceeding: A study of autonomous mobile system in outdoor environment. III.Local path planning for a nonholonomic mobile robot by chained form

  J. Takiguchi, J. Hallam
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  ABSTRACT: This paper presents the path planning/control method of a car-like mobile robot. The proposed two-stage path planner consists of the global path planner and the local path planner. The global path planner finds collision-free paths from an environmental map, which features universal consideration of the topological configuration of all obstacles by the method of Maklink Graph. The local path planner/controller linearises the robot dynamics by using the chained form and accomplishes a closed-loop control. This satisfies the nonholonomic constraints and obtains robustness toward model errors, drift and disturbances. Obstacle avoidance experiments show that the proposed method can successfully plan a collision-free path in a cluttered environment and navigate the robot to the goal with high trajectory accuracy
  Vehicle Electronics Conference, 1999. (IVEC '99) Proceedings of the IEEE International; 02/1999