Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles
Publication type: Journal Article
Publication date: 2022-06-01
scimago Q3
wos Q4
SJR: 0.309
CiteScore: 1.6
Impact factor: 0.6
ISSN: 00051179, 16083032
Electrical and Electronic Engineering
Control and Systems Engineering
Abstract
In this work we study a navigation problem for a nonholonomic differential drive robot operating in the environment with static and dynamic obstacles. We present a multi-phase approach to solve it, which is based on heuristic search to tackle the trajectory planning problem and specific methods of the control theory to solve the path following problem. Results of the experimental evaluation show that the suggested controller is one order of magnitude faster than the widely used in robotics Model-Predictive Control (MPC) and is capable of accurately following the reference trajectory. On the planning side we show that the suggested planner is scalable and is able to plan in reasonable time.
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Yakovlev K. S. et al. Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles // Automation and Remote Control. 2022. Vol. 83. No. 6. pp. 903-918.
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Yakovlev K. S., Andreychuk A. A., Belinskaya J. S., Makarov D. A. Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles // Automation and Remote Control. 2022. Vol. 83. No. 6. pp. 903-918.
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RIS
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TY - JOUR
DO - 10.1134/S000511792206008X
UR - https://doi.org/10.1134/S000511792206008X
TI - Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles
T2 - Automation and Remote Control
AU - Yakovlev, K S
AU - Andreychuk, A A
AU - Belinskaya, J S
AU - Makarov, D A
PY - 2022
DA - 2022/06/01
PB - Pleiades Publishing
SP - 903-918
IS - 6
VL - 83
SN - 0005-1179
SN - 1608-3032
ER -
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BibTex (up to 50 authors)
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@article{2022_Yakovlev,
author = {K S Yakovlev and A A Andreychuk and J S Belinskaya and D A Makarov},
title = {Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles},
journal = {Automation and Remote Control},
year = {2022},
volume = {83},
publisher = {Pleiades Publishing},
month = {jun},
url = {https://doi.org/10.1134/S000511792206008X},
number = {6},
pages = {903--918},
doi = {10.1134/S000511792206008X}
}
Cite this
MLA
Copy
Yakovlev, K. S., et al. “Safe Interval Path Planning and Flatness-Based Control for Navigation of a Mobile Robot among Static and Dynamic Obstacles.” Automation and Remote Control, vol. 83, no. 6, Jun. 2022, pp. 903-918. https://doi.org/10.1134/S000511792206008X.
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