Experiments of trajectory generation and obstacle avoidance for a UGV

David Vissière (1, 2) , Dong Eui Chang (3) , Nicolas Petit (2)

1 LRBA - Laboratoire de Recherches en Balistique et Aérodynamique
2 CAS - Centre Automatique et Systèmes
3 Department of Applied Mathematics [Waterloo]

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.

Domaines: Automatique / Robotique

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⟩