Navigation of a mobile robot by locally optimal trajectories

  • Authors:

  • Kokou Djath;Ali Siadet;Michel Dufaut;Didier Wolf

  • Affiliations:

  • CRAN-ENSEM-CNRS UPRESA 7039, 2, avenue de la forêt de Haye, 54516 Vandœuvre-lès-Nancy Cédex, France. E-mail: {kdjath, asiadat, dufaut, dwolf}@ensem.u-nancy.fr;CRAN-ENSEM-CNRS UPRESA 7039, 2, avenue de la forêt de Haye, 54516 Vandœuvre-lès-Nancy Cédex, France. E-mail: {kdjath, asiadat, dufaut, dwolf}@ensem.u-nancy.fr;CRAN-ENSEM-CNRS UPRESA 7039, 2, avenue de la forêt de Haye, 54516 Vandœuvre-lès-Nancy Cédex, France. E-mail: {kdjath, asiadat, dufaut, dwolf}@ensem.u-nancy.fr;CRAN-ENSEM-CNRS UPRESA 7039, 2, avenue de la forêt de Haye, 54516 Vandœuvre-lès-Nancy Cédex, France. E-mail: {kdjath, asiadat, dufaut, dwolf}@ensem.u-nancy.fr

  • Venue:
  • Robotica
  • Year:
  • 1999

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Abstract

This paper proposes a navigation system for a non-holonomic mobile robot. The navigation is based on a “look and move” approach. The aim is to define intermediate points called sub-goals through which the robot must pass. This algorithm is particularly suitable for navigation in an unknown environment and obstacle avoidance. Between two successive sub-goals, a shortest path planning solution is adopted. We have adopted the “Dubins' car” because of the environment perception sensor, a 180° laser scanner. In order to minimize the calculation time, the theoretical results of shortest path are approximated by simple equations. The navigation algorithm proposed can be used either in a structured or unstructured environment. In this context the local map construction is based on the segmentation of a structured environment; so for an unstructured environment, a suitable algorithm must be used instead.