Abstract
Motion planning and control for a mobile robot are often considered as two different and sequential processes. However, in a real environment where the robot is subject to perturbations induced by other moving agents or incomplete and uncertain models, it appears necessary to bridge the gap between planning and execution. The presented approach consists in considering the planned path as an indication by an execution system that will have some freedom in the actual motion control. The questions discussed in this paper are then: What is a planned path? How does the execution system modify it on-line? How are the kinematic features of the robot taken into account? The approach relies on an extensive use of potential fields for defining sensor-based motions, as well as for dynamic path modification. Experimental results show the effectiveness of the algorithms.
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© 1998 Springer-Verlag London Limited
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Chatila, R., Khatib, M. (1998). Interleaving Motion Planning And Execution For Mobile Robots. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_12
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DOI: https://doi.org/10.1007/978-1-4471-1580-9_12
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