Discrete abstractions for robot motion planning and control in polygonal environments

Calin Belta, Volkan Isler, George J. Pappas

Research output: Contribution to journalArticlepeer-review

195 Scopus citations

Abstract

In this paper, we present a computational framework for automatic generation of provably correct control laws for planar robots in polygonal environments. Using polygon triangulation and discrete abstractions, we map continuous motion planning and control problems, specified in terms of triangles, to computationally inexpensive problems on finite-state-transition systems. In this framework, discrete planning algorithms in complex environments can be seamlessly linked to automatic generation of feedback control laws for robots with underactuation constraints and control bounds. We focus on fully actuated kinematic robots with velocity bounds and (underactuated) unicycles with forward and turning speed bounds.

Original languageEnglish (US)
Pages (from-to)864-874
Number of pages11
JournalIEEE Transactions on Robotics
Volume21
Issue number5
DOIs
StatePublished - Oct 2005

Bibliographical note

Funding Information:
Manuscript received September 23, 2004; revised February 16, 2005. This paper was recommended for publication by Associate Editor L. Parker and Editor S. Hutchinson upon evaluation of the reviewers’ comments. The work of C. Belta was supported in part by the National Science Foundation under NSF CAREER 0447721 and under NSF CNS 0410514. The work of G. Pappas was supported in part by the National Science Foundation under NSF CAREER 0132716 and under NSF ITR 0324977, and in part by the Army Research Office under MURI DAAD 19-02-01-0383.

Keywords

  • Bisimulation
  • Control
  • Discrete abstraction
  • Hybrid system (HS)
  • Motion planning
  • Triangulation

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