AAAI Conference 2011 Conference Paper
Heuristic Planning in Adversarial Dynamic Domains
- Simon Chamberland
- Froduald Kabanza
Author name cluster
Simon Chamberland
Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.
2 papers
2 author rows
Possible papers
2IROS Conference 2010 Conference Paper
Motion planning for an omnidirectional robot with steering constraints
- Simon Chamberland
- Eric Beaudry
- Lionel Clavien
- Froduald Kabanza
- François Michaud
- Michel Lauria
Omnidirectional mobile robots, i. e. , robots that can move in any direction without changing their orientation, offer better manoeuvrability in natural environments. Modeling the kinematics of such robots is a challenging problem and different approaches have been investigated. One of the best approaches for a nonholonomic robot is to model the robot's velocity state as the motion around its instantaneous center of rotation (ICR). In this paper, we present a motion planner designed to compute efficient trajectories for such a robot in an environment with obstacles. The action space is modeled in terms of changes of the ICR and the motion around it. Our motion planner is based on a Rapidly-Exploring Random Trees (RRT) algorithm to sample the action space and find a feasible trajectory from an initial configuration to a goal configuration. To generate fluid paths, we introduce an adaptive sampling technique taking into account constraints related to the ICR-based action space.