This paper deals with a novel motion control approach for a carlike vehicle evolving in a structured, dynamic and partially known environment. The overall architecture of the control system is presented. We focus on two modules: the Global Trajectory Planner (GTP) and the Manoeuvre Execution (ME). The key idea of the approach is to plan and carry out sensorguided manoeuvres. A nominal trajectory is generated, based on monitoring the environment and a prediction of its evolution. In order to take into account unforeseen events, the motion control is carried out within the reactive scheme. The automatic vehicle adapts its nominal trajectory to avoid obstacles in a reactive way. Since replanning is time consuming, local trajectories associated with generic manoeuvres and based on perceptive information are planned and followed by ME. The approach developed allows to obtain the smooth motion of the vehicle. Experimental results obtained with our automatic carlike vehicle are presented for two kinds of manoeuvres : a lane following/changing and an autonomous parallel parking.
Publié le : 1997-09-11
Classification:
motion planning,
motion execution,
control architecture,
non-holonomic system,
vehicle,
[INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO],
[INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR],
[INFO.INFO-CG]Computer Science [cs]/Computational Geometry [cs.CG],
[INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI],
[MATH.MATH-FA]Mathematics [math]/Functional Analysis [math.FA],
[MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC],
[MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS]
@article{inria-00000017,
author = {Garnier, Philippe and Fraichard, Thierry and Laugier, Christian and Paromtchik, Igor and Scheuer, Alexis},
title = {Motion Autonomy Through Sensor\-Guided Manoeuvre},
journal = {HAL},
volume = {1997},
number = {0},
year = {1997},
language = {en},
url = {http://dml.mathdoc.fr/item/inria-00000017}
}