PLANIFICATEUR DE TRAJECTOIRE AVEC EVITEMENT D’OBSTACLE BASE SUR LA METHODE DES CONTRAINTES POUR ROBOT MOBILE
Résumé
Dans ce travail nous apportant une contribution à la planification locale de trajectoires pour les robots mobiles non-holonomes
avec évitement d’obstacles qui est basé sur la méthode des contraintes et certaines règles heuristiques. La méthode pose des
contraintes sur les vitesses permises au robot mobile l’obligeons à s’éloigner des obstacles. Le robot mobile est doté de
capteurs ultrason pour mesurer la distance minimale aux obstacles. La modélisation des obstacles et des capteurs par des
formes polygonales convexes facilite l’utilisation de procédures de calcul de distance minimales. Les résultats de simulation
ont montré la souplesse avec laquelle le robot mobile atteint la cible en traversant des parcours difficiles
Références
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number of degrees of freedom ’,IEEE , 1987.
[6] Paulo.C and Urbano.N, April,’Path-following control of
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[7] Ramirez.G and Zeghloul.S, ’ A New local path planner for
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April 2000.
[8] Shirong.L, Simon.X.Y and Huidi.Z, ’Adaptive neurons
Based control system design for mobile robot’, proceedings
of 2004 IEEE/RSJ, ICIRS, sendal Japan, pp2636-2641,
September 28- Octobre02, 2004.
[9] Tournassoud.P and Jehl.O, ’ Motion planning for a mobile
robot with a kinematics constraint‘, IEEE, pp1785-1790,
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[10] Patrick G. X, ‘Fast Swept-Volume distance for Robust
Collision Detection’, Proceeding of the 1997 IEEE, ICRA,
Albuquerque, New Mexico, April 1997.
[11] Zhihua Qu, Jing Wang and Clinton.E ‘A New Analytical
Solution to Mobile Robot trajectory Generation in the
Presence of Moving Obstacles’ IEEE Transaction on
Robotics Vol.20 No.6. Decembr 2004.
[12] Yasutaka Umeda and Takahiro Yakoh ‘Configuration and
Readhesion Control for Mobile Robot With External
Sensors ‘IEEE Transaction on Idustrial Electronics,
Vol.49.No.1, February 2002.
[13] Ji Yeong Lee and Howie Choset ‘Sensor-Based Exploration
for Convex Bodies: A New Raodamp for a convex-Shaped
Robot ‘IEEE Transactions on Robotics Vol.21 .No2
April.2005.
[14] Maaref.H and Barret.C ’Sensor-Based Navigation of
a Mobile Robot in an Indoor Environment’ Elsevier,
Robotics and Autonomous Systems 38 (2002) 1-8.
Directed Distances Between Convex polyhedra’,Journal of
information on science and engineering vol15,pp353-373,
1999.
[2] Ellepola.R and Kovesi.P, ’ mobile robot navigation using
recursive motion control’,IEEE ,pp168-174, 1997.
[3] Elmer.G.G, W.Johnson.D and Keerthi.S.S ,’A fast
procedure for computing the distance between complexes
objects in three-dimensional space‘, IEEE, journal of
robotics and automation ,vol.4, no.02,pp193-203,
April,1988.
[4] Faverjon.B, ’Hierchical object models for efficientanti-
collision algorithms’, IEEE, pp333-340, 1989.
[5] Faverjon.B and Tournassoud.P, 1987, ‘A local based
approache for path planning of manipulators with a high
number of degrees of freedom ’,IEEE , 1987.
[6] Paulo.C and Urbano.N, April,’Path-following control of
mobile robot in presence of uncertainties‘, IEEE,
Transactions on robotics, vol21 .no2,pp252-261,2005.
[7] Ramirez.G and Zeghloul.S, ’ A New local path planner for
nonholonomic mobile robot navigation in cluttered
environments’, IEEE, ICRA, san Francisco pp2058-2063,
April 2000.
[8] Shirong.L, Simon.X.Y and Huidi.Z, ’Adaptive neurons
Based control system design for mobile robot’, proceedings
of 2004 IEEE/RSJ, ICIRS, sendal Japan, pp2636-2641,
September 28- Octobre02, 2004.
[9] Tournassoud.P and Jehl.O, ’ Motion planning for a mobile
robot with a kinematics constraint‘, IEEE, pp1785-1790,
1988.
[10] Patrick G. X, ‘Fast Swept-Volume distance for Robust
Collision Detection’, Proceeding of the 1997 IEEE, ICRA,
Albuquerque, New Mexico, April 1997.
[11] Zhihua Qu, Jing Wang and Clinton.E ‘A New Analytical
Solution to Mobile Robot trajectory Generation in the
Presence of Moving Obstacles’ IEEE Transaction on
Robotics Vol.20 No.6. Decembr 2004.
[12] Yasutaka Umeda and Takahiro Yakoh ‘Configuration and
Readhesion Control for Mobile Robot With External
Sensors ‘IEEE Transaction on Idustrial Electronics,
Vol.49.No.1, February 2002.
[13] Ji Yeong Lee and Howie Choset ‘Sensor-Based Exploration
for Convex Bodies: A New Raodamp for a convex-Shaped
Robot ‘IEEE Transactions on Robotics Vol.21 .No2
April.2005.
[14] Maaref.H and Barret.C ’Sensor-Based Navigation of
a Mobile Robot in an Indoor Environment’ Elsevier,
Robotics and Autonomous Systems 38 (2002) 1-8.
Comment citer
TAHAR, GUESBAYA; KHIER, BENMAHAMMED.; ABDERRAOUF, BENALI..
PLANIFICATEUR DE TRAJECTOIRE AVEC EVITEMENT D’OBSTACLE BASE SUR LA METHODE DES CONTRAINTES POUR ROBOT MOBILE.
Courrier du Savoir, [S.l.], v. 9, mai 2014.
ISSN 1112-3338.
Disponible à l'adresse : >https://revues.univ-biskra.dz/index.php/cds/article/view/498>. Date de consultation : 27 avr. 2024
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