Fast Computation of Robot-Obstacle Interactions in Nonholonomic Trajectory Deformation
Olivier Lefebvre, Florent Lamiraux and David Bonnafous
This paper deals with the optimization of Robot-Obstacle
interaction computations, in the context of nonholonomic
trajectory deformation for mobile robots. We first
recall the principle of the trajectory deformation and the
role of the potential field gradient in the configuration space.
The contribution of the paper is twofold. First we show that
the potential field gradient can be computed without any
closed-form expression of the potential function if this latter
depends only on the distance between the robot and the
obstacles. Then an algorithm to filter obstacles that have no
influence in Robot-Obstacle interactions is presented. This
algorithm takes advantage of the spatial coherence of the
planned trajectory, and has been evaluated by experiments
on mobile robot Hilare2 towing a trailer.
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