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Experiments of trajectory generation and obstacle avoidance for a UGV

Abstract : 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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https://hal-mines-paristech.archives-ouvertes.fr/hal-00563417
Contributor : François Chaplais <>
Submitted on : Friday, February 4, 2011 - 6:36:27 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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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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