Motion planning under bounded uncertainty using ensemble control
نویسندگان
چکیده
This paper considers the problem of motion planning for a nonholonomic unicycle despite uncertainty that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that the position of this ensemble is controllable, and derive motion planning algorithms to steer this position between a given start and goal. We apply our work to a differential-drive robot with unknown but bounded wheel radius, and validate our approach with hardware experiments.
منابع مشابه
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملBounded Uncertainty Roadmaps for Path Planning
Motion planning under uncertainty is an important problem in robotics. Although probabilistic sampling is highly successful for motion planning of robots with many degrees of freedom, sampling-based algorithms typically ignore uncertainty during planning. We introduce the notion of a bounded uncertainty roadmap (BURM) and use it to extend samplingbased algorithms for planning under uncertainty ...
متن کاملLearned Stochastic Mobility Prediction for Planning with Control Uncertainty on Unstructured Terrain
Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modelling such control uncertainty is difficult due to the complex interaction between the platform and its environment. In this paper, we propose a motion planning approach whereby the outcome of control actions is learned from experience and represented sta...
متن کاملConstant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering
We consider a variant of nonholonomic motion planning for a Dubins car with no reversals, binary left/right steering, and uncertainty in motion direction. We apply our new motion planner to steerable needles, a new class of flexible bevel-tip medical needles that clinicians can steer through soft tissue to reach targets inaccessible to traditional stiff needles. Our method explicitly considers ...
متن کاملIntelligent Control for Robot Manipulators by Learning
An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...
متن کامل