A HYBRID FEEDBACK CONTROLLER FOR CAR-LIKE ROBOTS - Combining Reactive Obstacle Avoidance and Global Replanning

Matthias Hentschel, Oliver Wulf, Bernardo Wagner

Abstract

This paper presents a hybrid feedback controller for path control of autonomous mobile robots. The controller combines reactive obstacle avoidance with global path replanning, enabling collision-free navigation along a preplanned path. Avoidance of local obstacles is accomplished by adjusting the vehicle’s lateral deviation from the path trajectory reactively. Global path replanning is performed to circumvent obstacles which cannot be avoided locally. In contrast to common approaches, this is done by searching an optimal path returning to the initial trajectory beyond the obstacle. Following the description of the hybrid feedback controller, experimental results will demonstrate the effectiveness of this approach.

References

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Paper Citation


in Harvard Style

Hentschel M., Wulf O. and Wagner B. (2006). A HYBRID FEEDBACK CONTROLLER FOR CAR-LIKE ROBOTS - Combining Reactive Obstacle Avoidance and Global Replanning . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 445-450. DOI: 10.5220/0001215604450450


in Bibtex Style

@conference{icinco06,
author={Matthias Hentschel and Oliver Wulf and Bernardo Wagner},
title={A HYBRID FEEDBACK CONTROLLER FOR CAR-LIKE ROBOTS - Combining Reactive Obstacle Avoidance and Global Replanning},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={445-450},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001215604450450},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A HYBRID FEEDBACK CONTROLLER FOR CAR-LIKE ROBOTS - Combining Reactive Obstacle Avoidance and Global Replanning
SN - 978-972-8865-60-3
AU - Hentschel M.
AU - Wulf O.
AU - Wagner B.
PY - 2006
SP - 445
EP - 450
DO - 10.5220/0001215604450450