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Chapitre d'ouvrage

Computing capture tubes

Luc Jaulin 1, 2, 3 Lopez Daniel 4 Doze Vincent Le 5 Menec Stéphane Le 5 Ninin Jordan 1, 2, 3 Gilles Chabert 6 Ibnseddik Mohamed Saad 1, 2 Stancu Alexandru 4
1 Lab-STICC_ENSTAB_CID_IHSEV
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
2 Pôle STIC_OSM
ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
3 Lab-STICC_ENSTAB_CID_PRASYS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
4 UMIST/Department of Process Integration - University Of Manchester Institute
5 MBDA - MBDA France
6 IMT Atlantique - IMT Atlantique Bretagne-Pays de la Loire
Abstract : Many mobile robots such as wheeled robots, boats, or plane are described by nonholonomic differential equations. As a consequence, they have to satisfy some differential constraints such as having a radius of curvature for their trajectory lower than a known value. For this type of robots, it is difficult to prove some properties such as the avoidance of collisions with some moving obstacles. This is even more difficult when the initial condition is not known exactly or when some uncertainties occur. This paper proposes a method to compute an enclosure (a tube) for the trajectory of the robot in situations where a guaranteed interval integration cannot provide any acceptable enclosures. All properties that are satisfied by the tube (such as the non-collision) will also be satisfied by the actual trajectory of the robot.
Keywords : Capture tube Contractors Interval arithmetic Robotics Stability
Type de document :
Chapitre d'ouvrage
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https://hal.archives-ouvertes.fr/hal-01326533
Contributeur : Annick Billon-Coat <>
Soumis le : vendredi 3 juin 2016 - 18:08:38
Dernière modification le : mercredi 5 août 2020 - 03:41:56

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CNRS | UNIV-BREST | TDS-MACS | INSMI | INSTITUT-TELECOM | ENIB | LAB-STICC_ENIB | LAB-STICC | ENSTA-BRETAGNE | ENSTA-BRETAGNE-STIC | DAPI | UNIV-NANTES | LINA | LINA-TASC | IMT-ATLANTIQUE

Citation

Luc Jaulin, Lopez Daniel, Doze Vincent Le, Menec Stéphane Le, Ninin Jordan, et al.. Computing capture tubes. Scientific Computing, Computer Arithmetic, and Validated Numerics, 9553, Springer, pp.209-224, 2016, 978-3-319-31768-7. ⟨10.1007/978-3-319-31769-4_17⟩. ⟨hal-01326533⟩

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