Motion planning for non-holonomic mobile robots using the i-PID controller and potential field

Yingchong Ma (1) , Gang Zheng (1, 2) , Wilfrid Perruquetti (1, 2, 3) , Zhaopeng Qiu (2)

1 SyNeR - Systèmes Non Linéaires et à Retards
2 NON-A - Non-Asymptotic estimation for online systems
3 Centrale Lille

— This paper proposes a motion planning approach for non-holonomic mobile robots. Firstly, motion planning using i-PID controller is presented. Then we improve the old potential field function to produce smooth repulsive force. Finally a new repulsive function of robot orientation and angular velocity is proposed to improve the performance of obstacle avoidance. The effectiveness and the robustness of the proposed method are shown thereafter via several simulations.

Domaines: Automatique / Robotique

Yingchong Ma, Gang Zheng, Wilfrid Perruquetti, Zhaopeng Qiu. Motion planning for non-holonomic mobile robots using the i-PID controller and potential field. IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 2014, Sep 2014, Chicago, United States. ⟨hal-01071506⟩