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Automatic Control of Mobility

The VAHM Project (Véhicule Autonome pour Handicapés Moteurs)

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Robotic Systems

Part of the book series: Microprocessor-Based and Intelligent Systems Engineering ((ISCA,volume 10))

Summary

The VAHM project (Autonomous Vehicle for the Disabled) is a federating theme of research in the field of robotics. Several aspects are dealt with:

This article describes the means used to implement mobility.Three problems are analysed:

  • environment modelling;

  • path planning;

  • trajectory generation.

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References

  1. CHATILLAR. “système de navigation pourrobot autonome: modélisationetprocessus de décision”,Thèse de Doctorat, Toulouse 81.

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  2. THORPE “Path relaxation: path planning for a mobil robot”, Pittsburg, Rapport Technique CMV-RI-TR-84-5.

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  3. LOZANO PEREZ T., WESLEY M.“An algorithm for planning collision-free path among polyedral obstacles”, Conm. ACM, Vol 22,1979 p. 560–570.

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  4. SAMET M. “Region representation quatrees from an binary array”, Comp. Graphics and Image Processing 13, 1980 pp 88–93.

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  5. PRUSKI A., BOSCHIAN V. “Guid modelisation for autonoms robot”, IFAC-INCOM 189, Madrid, Ap. 89.

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  6. PRUSKI A.“Multivalue coding: application to the autonomous robots”, Factories of the Future, Dec. 90, Nor Folk, USA.

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  7. KANAYAMA, YUTA “Vehicle path specification by a sequence of strait lines”, IEEE Journal of robotics and automation, Vol 4 (3), Juin 1988.

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  8. MAKINO H., SUDA H. “Continuous path control using clothoïdal interpolation”, 20ème ISIR, Tokyo, Oct. 1989.

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Author information

Authors and Affiliations

  1. Laboratoire d’Automatique et d’Electronique Industrielles, METZ University, Ile du Saulcy, 57045, Metz Cedex 1, France

    K. Moumen & A. Pruski

Authors
  1. K. Moumen
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  2. A. Pruski
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece

    Spyros G. Tzafestas

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© 1992 Springer Science+Business Media Dordrecht

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Moumen, K., Pruski, A. (1992). Automatic Control of Mobility. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_41

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  • DOI: https://doi.org/10.1007/978-94-011-2526-0_41

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-010-5115-6

  • Online ISBN: 978-94-011-2526-0

  • eBook Packages: Springer Book Archive

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