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Communication Dans Un Congrès Année : 2023

Real-time Dynamic Obstacle Avoidance For A Non-holonomic Mobile Robot

Résumé

This paper presents the experimental validation of a real-time nonlinear model predictive control algorithm developed to deal with dynamic and static obstacle avoidance for a non-holonomic wheeled mobile robot. Unlike state-of-theart techniques, the speed of the dynamic obstacle is unknown to the controller. The developed controller autonomously drives the robot away from the obstacle by calculating the minimal distance from which the avoidance maneuver starts. Several real-time experimental results for stabilizing a mobile robot in presence of dynamic and static obstacles are presented.
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Dates et versions

hal-04153577 , version 1 (06-07-2023)

Identifiants

  • HAL Id : hal-04153577 , version 1

Citer

Mukhtar Sani, Ahmad Hably, Bogdan Robu, Jonathan Dumon, Nacim Meslem. Real-time Dynamic Obstacle Avoidance For A Non-holonomic Mobile Robot. IEEE ISIE 2023 - 32nd International Symposium on Industrial Electronic, Jun 2023, Helsiinki, Finland. ⟨hal-04153577⟩
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