Experiments of trajectory generation and obstacle avoidance for a UGV

In this paper, we report results of investigations conducted on a mobile robotic experiment developed at the DGA Laboratoire de Recherche en Balistique et Aerodynamique in a joint work with Ecole des Mines. The vehicles under consideration are in fact similar to unicycles. We investigate a flatness based approach (combining open-loop optimization and closed loop tracking) and gyroscopic forces control laws. Experimental results are exposed. A theoretical proof of obstacle avoidance for a gyroscopic scheme is presented.