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1、Proceedingsofthe30thChineseControlConferenceJuly22-24,2011,Yantai,ChinaSensor-BasedPlanningandControlAlgorithmsforaMobileRobotoveraGivenGlobalPlanning112Anugrahk.PAMOSOAJI,AugieWIDYOTRIATMO,Keum-ShikHONG1.SchoolofMechanicalEngineering,PusanNationalUniversity,KoreaE-mail
2、:{nugie161,augie}@pusan.ac.kr2.DepartmentofCogno-MechatronicsEngineeringandSchoolofMechanicalEngineering,PusanNationalUniversityE-mail:kshong@pusan.ac.krAbstract:Asensor-basedplanningalgorithmformobilerobotsincomplexworkspacesgivenaglobalplanisinvestigated.Anissueofwork
3、spacerecognitioneffortistackledbytheproposedalgorithm.Anintegratedplanningandcontrolschemeisproposedaswell.Thelocalplanningalgorithmusesinformationofvia-pointsfromaglobalplanningalgorithmtogeneratethelocalpath.Moreover,thelocalplanningalgorithmwillgenerateasub-via-point
4、onceanobstacledetectedinthesensingarea.ALyapunov-basedcontrollawfortrackingthecurrentsub-via-pointorthecurrentvia-pointisintroduced.Asimulationwhichshowspath,linearvelocity,andangularvelocitygeneratedbythecontroldesigntodrivetherobottothecurrentvia-pointorsub-via-pointi
5、spresented.KeyWords:GlobalAndLocalPlanningIntegration,Sensor-BasedPlanning,Lyapunov-BasedControlTheadvantageofintegratingouralgorithmwithsuch1Introductionglobalplanningalgorithmsisthatatanytimeinstant,thePlanningandcontrolproblemsformobilerobotsinplannerdoesnotneedtoev
6、aluatetheentireworkspacetocomplexworkspaceshavebeenstudiedintherecentyears.detectanychangesintheworkspace.Moreover,adecisionBeginningwiththestudiesforsimpleworkspacewithoflocatinganewsub-via-pointisestablishedinashorttimeknowndistributionofstaticobstacle[1]-[8],followed
7、bywithoutanyefforttoprocessunnecessaryinformationofthosewithdynamicobstacles[10]-[12],thestudiesrecentlyanyfar-distancepoint.cometothecaseofplanningincomplexworkspacesThispaperisorganizedasfollows.Section2discusses[11]-[15].abouttheproblemdefinitionandsomeassumptions.Se
8、ctionVariousissuesofworkspacerecognitioninrelationtothe3introducesourproposedmethodforthelocalplanningefficien
