INTEGRATED ROBOT PLANNING AND CONTROL WITH EXTENDED KOHONEN MAPS

摘要

The problem of goal-directed, collision-free motion in a complex, unpredictable environment can be solved by tightly integrating high-level deliberative planning with low-level reactive control. This thesis presents two such architectures for a nonholonomic mobile robot. To achieve real-time performance, reactive control capabilities have to be fully realized so that the deliberative planner can be simplified. These architectures are enriched with reactive target reaching and obstacle avoidance modules. Their target reaching modules use indirect-mapping Extended Kohonen Map to provide finer and smoother motion control than direct-mapping methods. While one architecture fuses these modules indirectly via command fusion, the other one couples them directly using cooperative Extended Kohonen Maps, enabling the robot to negotiate unforeseen concave obstacles. The planner for both architectures use a slippery cells technique to decompose the free workspace into fewer cells, thus reducing search time. Any two points in the cell can still be traversed by reactive motion.