On Line Reactive Planning for a Non Holonomic Mobile in a Dynamic World on Line Reactive Planning for a Non Holonomic Mobile in a Dynamic World

| This paper deals with the problem of planning and controlling the motion of a car like mobile moving in a dynamic and roadway like environment. The contribution presented here is a motion controller which executes in a reactive way a given nominal motion plan. Such a plan is made up of a smooth trajectory C and of time constraints of the type \reach location l at time t l ". Data concerning the actual environment of the vehicle considered are assumed to be obtained through perception. In order to get the required reactivity, we have developed a motion controller with two main components: the pilot which analyses the current situation and adapts the nominal plan accordingly, and the executor which generates the required motion commands. The pilot operates at a symbolic level using a set of behavioural rules. The executor makes use of a potential eld approach to generate the motion commands. Abstract This paper deals with the problem of planning and controlling the motion of a car like mobile moving in a dynamic and roadway like environment. The contribution presented here is a motion controller which executes in a reactive way a given nominal motion plan. Such a plan is made up of a smooth trajectory C and of time constraints of the type \reach location l at time tl". Data concerning the actual environment of the vehicle considered are assumed to be obtained through perception. In order to get the required reactivity, we have developed a motion controller with two main components: the pilot which analyses the current situation and adapts the nominal plan accordingly, and the executor which generates the required motion commands. The pilot operates at a symbolic level using a set of be-havioural rules. The executor makes use of a potential eld approach to generate the motion commands.