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Communication Dans Un Congrès Année : 2007

Experiments of trajectory generation and obstacle avoidance for a UGV

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Résumé

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.
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Dates et versions

hal-00563417 , version 1 (04-02-2011)

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David Vissière, Dong Eui Chang, Nicolas Petit. Experiments of trajectory generation and obstacle avoidance for a UGV. 2007 American Control Conference, Jul 2007, New York, United States. pp.2828-2835, ⟨10.1109/ACC.2007.4283088⟩. ⟨hal-00563417⟩
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