TOWARDS COGNITIVE STEERING BEHAVIOURS FOR TWO-WHEELED ROBOTS

François Gaillard, Cédric Dinont, Michaël Soulignac, Philippe Mathieu

Abstract

We present a two-layer architecture for two-wheeled robots trajectory planning. This architecture can be used to describe steering behaviours and to generate candidate trajectories that will be evaluated by a higher-level layer before choosing which one will be followed. The higher layer uses a TÆMS tree to describe the current robot goal and its decomposition into alternative steering behaviours. The lower layer uses the DKP trajectory planner to grow a tree of spline trajectories that respect the kinematic constraints of the problem, such as linear/angular speed limits or obstacle avoidance. The two layers closely interact, allowing the two trees to grow simultaneously: the TÆMS tree nodes contain steering parameters used by DKP to generate its branches, and points reached in DKP tree nodes are used to trigger events that generate new subtrees in the TÆMS tree. We give two illustrative examples: (1) generation and evaluation of trajectories on a Voronoi-based roadmap and (2) overtaking behaviour in a road-like environment.

References

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Paper Citation


in Harvard Style

Gaillard F., Dinont C., Soulignac M. and Mathieu P. (2012). TOWARDS COGNITIVE STEERING BEHAVIOURS FOR TWO-WHEELED ROBOTS . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-8425-96-6, pages 119-125. DOI: 10.5220/0003717701190125


in Bibtex Style

@conference{icaart12,
author={François Gaillard and Cédric Dinont and Michaël Soulignac and Philippe Mathieu},
title={TOWARDS COGNITIVE STEERING BEHAVIOURS FOR TWO-WHEELED ROBOTS},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2012},
pages={119-125},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003717701190125},
isbn={978-989-8425-96-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - TOWARDS COGNITIVE STEERING BEHAVIOURS FOR TWO-WHEELED ROBOTS
SN - 978-989-8425-96-6
AU - Gaillard F.
AU - Dinont C.
AU - Soulignac M.
AU - Mathieu P.
PY - 2012
SP - 119
EP - 125
DO - 10.5220/0003717701190125