Smooth feedback for car-like vehicles in polygonal environments

Stephen R. Lindemann, Steven M. LaValle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We introduce a method for constructing provably safe smooth feedback laws for car-like robots in obstaclecluttered polygonal environments. The robot is taken to be a point with motion that must satisfy bounded path curvature constraints. We construct a global feedback plan (or control policy) by partitioning the environment into convex cells, computing a discrete plan on the resulting cell complex, and generating local control laws on the state space that are safe, consistent with the high level plan, and satisfy smoothness conditions. The trajectories of the resulting global feedback plan are smooth and stabilize the position of the robot in the plane, neglecting the orientation.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3104-3109
Number of pages6
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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