Motion Control For A Car-like Robot: Potential Field And Multi-agent Approaches

Abstract

This paper is concerned with the problem of controlling the motion of a mobile robot moving in a time-varying environment. The study considers a car-like vehicle moving in a roadway-like environment. We present two approaches which enable the vehicle to execute a given nominal motion plan and to adjust it in order to avoid static and dynamic obstacles. The first approach is based on classical potential field techniques. The second one relies upon a multi-agent approach. I Introduction We are intersted in the problem of motion control of a carlike vehicle. To deal with this problem, we use a classical two layered system composed of a "trajectory planner" and a "motion controller". The purpose of the trajectory planner is to generate a nominal plan made up of a geometric path and a velocity profile along this path. The motion controller enables the autonomous vehicle to execute this nominal plan in a reactive way and to optimize its behaviour, i.e. to avoid moving obstacles while respec...