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Avtomatika i Telemekhanika, 2022, Issue 6, Pages 96–117
DOI: https://doi.org/10.31857/S0005231022060083 (Mi at15979) 		 
This article is cited in 2 scientific papers (total in 2 papers)

Safe interval path planning and flatness-based control for navigation of a mobile robot among static and dynamic obstacles

K. S. Yakovleva, J. S. Belinskayaa, D. A. Makarova, A. A. Andreychukbc

a Federal Research Center “Computer Science and Control,” Russian Academy of Sciences, Moscow, 119333 Russia
b AIRI, Moscow, 121165 Russia
c RUDN University, Moscow, 117198 Russia
Full-text PDF (982 kB) First page Citations (2)
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DOI: https://doi.org/10.31857/S0005231022060083
Abstract: In this work we study a navigation problem for a nonholonomic differential drive robot operating in the environment with static and dynamic obstacles. We present a multi-phase approach to solve it, which is based on heuristic search to tackle the trajectory planning problem and specific methods of the control theory to solve the path following problem. Results of the experimental evaluation show that the suggested controller is one order of magnitude faster than the widely used in robotics Model-Predictive Control (MPC) and is capable of accurately following the reference trajectory. On the planning side we show that the suggested planner is scalable and is able to plan in reasonable time.
Keywords: path planning, mobile robot, flat system, dynamic obstacles, motion primitives.
Presented by the member of Editorial Board: O. P. Kuznetsov

Received: 07.12.2021
Revised: 11.01.2022
Accepted: 26.01.2022
English version:
Automation and Remote Control, 2022, Volume 83, Issue 6, Pages 903–918
DOI: https://doi.org/10.1134/S000511792206008X
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: K. S. Yakovlev, J. S. Belinskaya, D. A. Makarov, A. A. Andreychuk, “Safe interval path planning and flatness-based control for navigation of a mobile robot among static and dynamic obstacles”, Avtomat. i Telemekh., 2022, no. 6, 96–117; Autom. Remote Control, 83:6 (2022), 903–918
Citation in format AMSBIB
\Bibitem{YakBelMak22}
\by K.~S.~Yakovlev, J.~S.~Belinskaya, D.~A.~Makarov, A.~A.~Andreychuk
\paper Safe interval path planning and flatness-based control for navigation of a mobile robot among static and dynamic obstacles
\jour Avtomat. i Telemekh.
\yr 2022
\issue 6
\pages 96--117
\mathnet{http://mi.mathnet.ru/at15979}
\crossref{https://doi.org/10.31857/S0005231022060083}
\mathscinet{http://mathscinet.ams.org/mathscinet-getitem?mr=4453435}
\edn{https://elibrary.ru/ACWFDF}
\transl
\jour Autom. Remote Control
\yr 2022
\vol 83
\issue 6
\pages 903--918
\crossref{https://doi.org/10.1134/S000511792206008X}
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  • https://www.mathnet.ru/eng/at/y2022/i6/p96
    • This publication is cited in the following 2 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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    References:31
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