engleski

Path Following for Autonomous Vehicle Navigation based on Kinodynamic Control

This paper addresses the problem of path following for mobile robots with particular emphasis on safety issues. Whereas the traditional path following algorithms aim at minimizing an error function with respect to a given path and kinematic and/or dynamic model of the robot, the problem of obstacle avoidance, in particular of dynamic objects is often neglected or simply cast to the replanning phase of the global planner which issues the given path. Such approaches that do not check explicitly for collision for the given state of the ego-robot and the environment can easily lead to hazardous situations. In order to address safety issues directly, a navigation framework is presented here that combines a path following control scheme to attain a global objective with a collision checking scheme that incrementally builds safe trajectories, thus ensuring ego-robot safety at all times, with respect to the static and dynamic environment obstacles and kinodynamic limitations of the ego-robot itself. Simulation results are provided for two different non-holonomic robots, i.e. Ackermann-like vehicles and differential drive mobile robots.

Autonomous Vehicles; Navigation; Path Following; Kinodynamic Control

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