Skip to main content
SpringerLink
Log in

Predictive navigation of an autonomous vehicle with nonholonomic and minimum turning radius constraints

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

A key feature of an autonomous vehicle is the ability to re-plan its motion from a starting configuration (position and orientation) to a goal configuration while avoiding obstacles. Moreover, it should react robustly to uncertainties throughout its maneuvers. We present a predictive approach for autonomous navigation that incorporates the shortest path, obstacle avoidance, and uncertainties in sensors and actuators. A car-like robot is considered as the autonomous vehicle with nonholonomic and minimum turning radius constraints. The results (arcs and line segments) from a shortest-path planner are used as a reference to find action sequence candidates. The vehicle’s states and their corresponding probability distributions are predicted to determine a future reward value for each action sequence candidate. Finally, an optimal action policy is calculated by maximizing an objective function. Through simulations, the proposed method demonstrates the capability of avoiding obstacles as well as of approaching a goal. The regenerated path will incorporate uncertainty information.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. I. Kolmanovsky and N. H. McClamroch, Developments in nonholonomic control problems, IEEE Control System Magazine, 15(6) (1995) 20–36.

    Article  Google Scholar 

  2. P. Souéres and J. P. Laumond, Shortest paths synthesis for a car-like robot, IEEE Transactions on Automatic Control, 41(5) (1996) 672–688.

    Article  MATH  Google Scholar 

  3. R. M. Murray and S. S. Sastry, Nonholonomic motion planning: Steering using sinusoids, IEEE Transactions on Automatic Control, 38(5) (1993) 700–716.

    Article  MATH  MathSciNet  Google Scholar 

  4. C. Samson, Control of chained systems application to path following and time varying point-stabilization of mobile robots, IEEE Transactions on Automatic Control, 40(1) (1995) 64–77.

    Article  MATH  MathSciNet  Google Scholar 

  5. E. Valtolina and A. Astolfi, Local robust regulation of chained systems, System Control Letters, 29(3) (2003) 231–238.

    MathSciNet  Google Scholar 

  6. B. M. Kim and P. Tsiotras, Controllers for unicycletype wheeled robots: Theoretical results and experimental validation, IEEE Transactions on Robotics and Automation, 18(3) (2002) 294–307.

    Article  Google Scholar 

  7. P. Lucibello and G. Oriolo, Robust stabilization via iterative state steering with an application to chained form systems, Automatica, 37(1) (2001) 71–79.

    Article  MATH  MathSciNet  Google Scholar 

  8. O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, International Journal of Robotics Research, 5(1) (1986) 90–98.

    Article  MathSciNet  Google Scholar 

  9. J. Borenstein and Y. Koren, The vector field histogram-fast obstacle avoidance for mobile robots, IEEE Transactions on Automatic Control, 7(3) (1991) 278–288.

    Google Scholar 

  10. R. Simmons, The curvature-velocity method for local obstacle avoidance, Proc. of the IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, USA, (1996) 3375–3382.

  11. D. Fox, W. Burgard, and S. Thrun, The dynamic window approach to collision avoidance, IEEE Robotics and Automation Magazine, 4(1) (1997) 23–33.

    Article  Google Scholar 

  12. I. Ulrich and J. Borenstein, VFH+: Reliable obstacle avoidance for fast mobile robots, Proc. of the IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, (1998) 1572–1577.

  13. N. Y. Ko, R. Simmons and K. S. Kim, A lane based avoidance method for mobile robot navigation, KSME International Journal, 17(11) (2003) 1693–1731.

    Google Scholar 

  14. S. Thrun, Probabilistic algorithms in robotics, AI Magazine, 21(4) (2000) 93–109.

    Google Scholar 

  15. D. H. Choi, S. J. Lee and H. H. Yoo, Dynamic analysis of multi-body systems considering probabilistic properties, Journal of Mechanical Science and Technology, 19(1) (2005) 113–139.

    Article  Google Scholar 

  16. Y. S. Kim and K. S. Hong, A tracking algorithm for autonomous navigation of AGVs in an automated container terminal, Journal of Mechanical Science and Technology, 19(1) (2005) 72–86.

    Article  Google Scholar 

  17. A. Foka and P. Trahanias, Real time hierarchical POMDPs for autonomous robot navigation, Robotics and Autonomous System, 55(7) (2007) 561–571.

    Article  Google Scholar 

  18. K. S. Hong, T. A. Tamba and J. B. Song, Mobile robot architecture for reflexive avoidance in moving obstacles, Advanced Robotics, 22(13–14) (2008) 1397–1420.

    Article  Google Scholar 

  19. Y. Bar-Shalom, X. R. Li and T. Kirubarajan, Estimation with applications to tracking and navigation, Wiley-Interscience, New York, USA, (2001).

    Book  Google Scholar 

  20. N. Y. Ko, D. J. Seo and R. G. Simmons, Collisionfree motion coordination of heterogeneous robots, Journal of Mechanical Science and Technology, 22(11) (2008) 2090–2098.

    Article  Google Scholar 

  21. C. S. Kim, K. S. Hong and Y.-S. Han, PC-based off-line programming in the shipbuilding industry: Open architecture, Advanced Robotics, 19(4) (2005) 435–458.

    Article  Google Scholar 

  22. Y. Gao, C. G. Lee and K. T. Chong, Receding horizon tracking control for mobile robots with time delay, Journal of Mechanical Science and Technology, 22(12) (2008) 2403–2416.

    Article  Google Scholar 

  23. T. A. Tamba, H. Hong and K. S. Hong, A path following control of an unmanned autonomous forklift, International Journal of Control, Automation, and Systems, 7(1) (2009) 113–122.

    Article  Google Scholar 

  24. J. Bae, S. Lee and J.-B. Song, Use of coded infrared light for mobile robot localization, Journal of Mechanical Science and Technology, 22(7) (2008) 1279–1286.

    Article  Google Scholar 

  25. S.-J. Lee, J.-H. Lim and D.-W. Cho, Feature-map building using sparse sonar data in a home-like environment, Journal of Mechanical Science and Technology, 21(1) (2007) 74–82.

    Article  Google Scholar 

  26. Y. S. Kim, K. S. Hong and S. K. Sul, Anti-sway control of container cranes: Inclinometer, observer, and state feedback, vol. 2, no. 3, International Journal of Control, Automation, and Systems, 2(4) (2004) 435–449.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Pusan National University, Busan, 609-735, Korea

    Augie Widyotriatmo & Keum-Shik Hong

  2. Department of Computer Science and Engineering, Pusan National University, Busan, 609-735, Korea

    Bonghee Hong

Authors
  1. Augie Widyotriatmo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Bonghee Hong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Keum-Shik Hong
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Keum-Shik Hong.

Additional information

This paper was recommended for publication in revised form by Associate Editor Shuzhi Sam Ge

Augie Widyotriatmo received his B.S. and M.S. degrees in Engineering Physics from the Institute of Technology Bandung, Indonesia, in 2002 and 2006, respectively. He is currently a Ph.D. program student in the School of Mechanical Engineering, Pusan National University, Korea. His research interests include robotics, control of nonholonomic systems, and navigation of autonomous vehicles.

Bonghee Hong received the B.S., M.S., and Ph.D. degrees in Computer Science and Engineering from Seoul National University in 1982, 1984, and 1988, respectively. Dr. Hong joined the Department of Computer Science and Engineering at Pusan National University (PNU) in 1989 and now he is Professor. Dr. Hong is the director of the Research Institute of Logistics Information Technology (LIT) at PNU. Dr. Hong received the Korean Minister Award in 2006 and the University Excellence Innovation Award in 2007. His current research interests include theory of database systems, RTLS systems, RFID middleware, RFID database, and stream data processing.

Keum-Shik Hong received the B.S. degree in Mechanical Design and Production Engineering from Seoul National University in 1979, the M.S. degree in ME from Columbia University in 1987, and both the M.S. degree in applied mathematics and the Ph.D. degree in ME from the University of Illinois at Urbana-Champaign in 1991. He served as an Associate Editor for Automatica (2000–2006) and as an Editor for the International Journal of Control, Automation, and Systems (2003–2005). Dr. Hong received the Fumio Harashima Mechatronics Award in 2003 and the Korean Government Presidential Award in 2007. His research interests include nonlinear systems theory, adaptive control, distributed parameter system control, robotics, and vehicle controls.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Widyotriatmo, A., Hong, B. & Hong, KS. Predictive navigation of an autonomous vehicle with nonholonomic and minimum turning radius constraints. J Mech Sci Technol 23, 381–388 (2009). https://doi.org/10.1007/s12206-008-1215-x

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-008-1215-x

Keywords

Search

Navigation