A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles

The problem of determining a collision-free path for a mobile robot moving in a dynamically changing environment is addressed in this paper. By explicitly considering a kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed...

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Vydané v:	IEEE transactions on robotics Ročník 20; číslo 6; s. 978 - 993
Hlavní autori:	Zhihua Qu, Jing Wang, Plaisted, C.E.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York, NY IEEE 01.12.2004 Institute of Electrical and Electronics Engineers
Predmet:	Adjustable Applied sciences Artificial intelligence Boundary conditions Car-like robot chained form Changing environments Collision avoidance Computer science; control theory; systems Control theory. Systems Criteria Exact sciences and technology Exact solutions Histograms Kinematics Material handling, hoisting. Storage. Packaging Mathematical analysis Mathematical models Mobile robots Motion-planning moving obstacle nonholonomic systems obstacle avoidance Optimal control Pattern recognition. Digital image processing. Computational geometry piecewise parameterization polynomial inputs Polynomials Process control. Computer integrated manufacturing Robotics Robots Standards development Trajectories trajectory generation Transfert equipment, manipulators; industrial robots Vehicle dynamics Trajectory Moving robot Modeling Velocity Piecewise linearization
ISSN:	1552-3098
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Popis
Shrnutí:	The problem of determining a collision-free path for a mobile robot moving in a dynamically changing environment is addressed in this paper. By explicitly considering a kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and are expressed in terms of one adjustable parameter for the purpose of collision avoidance. Then, a new collision-avoidance condition is developed for the dynamically changing environment, which consists of a time criterion and a geometrical criterion, and it has explicit physical meanings in both the transformed space and the original working space. By imposing the avoidance condition, one can determine one (or a class of) collision-free path(s) in a closed form. Such a path meets all boundary conditions, is twice differentiable, and can be updated in real time once a change in the environment is detected. The solvability condition of the problem is explicitly found, and simulations show that the proposed method is effective.
Bibliografia:	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	1552-3098
DOI:	10.1109/TRO.2004.829461