Homotopic path validation using non-holonomic differential drive robot model
Gerardo Ulises Diaz-Arango, Hector Eduardo De Cos-Cholula, Luis Hernández-Martínez, Arturo Sarmiento-Reyes, Héctor Vázquez-Leal, F. Pérez-Zenteno, Dionisio Avila-Espinoza · 2017
In this paper the tracking of collision-free path obtained by using Homotopic Path Planning Method (HPPM) with automatic value assignation of repulsion parameter is presented. This work is center on show the utility of this method to obtain a collision free path for maps with narrow corridors on indoor environments. First, the basis of homotopic path planning method with automatic value assignation of repulsion parameter are explained. Second, the Pure-Pursuit controller is brief explained. Third, the capability of the HPPM is shown by using two experiments that which contain narrow passages and several circular obstacles. Finally, in order to validate the solution paths, a tracking on Robot Operating System by using 3P-DX robot model and on MATLAB using a Pure-Pursuit controller from the Robotics Toolbox is performed.