Trajectory planning for a four-wheel robot using decomposition-coordination principle

Ouarrak, Hala El; Bouaine, Amine; Rachik, Mostafa; Mestari, Mohammed

doi:10.1109/icocs.2015.7483265

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Model Of the Robot1

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Cited by 8 publications

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“…The model we present below shows both kinematics and dynamic constraints which offer a genuine representation of the robot's motion. We present the nonlinear model for the four-wheel robot as follows [22]:…”

Section: Model Of the Robotmentioning

confidence: 99%

A Reactive Path Planning Approach for a Four-wheel Robot by the Decomposition Coordination Method

Ouarrak

Rachik

Sanou

et al. 2017

EECSI

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In this paper, we discuss the problem of safe navigation by solving a non-linear model for a four-wheel robot while avoiding the upcoming obstacles that may cross its path using the Decomposition Coordination Method (DC). The method consists of first, choosing a non-linear system with the associated objective functions to optimize. Then we carry on the resolution of the model using the Decomposition Coordination Method, which allows the non-linearity of the model to be handled locally and ensures coordination through the use of the Lagrange multipliers. An obstacle-avoidance algorithm is presented thus offering a collision-free solution. A numerical application is given to concert the efficiency of the method employed herein along with the simulation results.

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Section: Model Of the Robotmentioning

confidence: 99%