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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Veröffentlicht in:IEEE transactions on robotics Jg. 20; H. 6; S. 978 - 993
Hauptverfasser: Zhihua Qu, Jing Wang, Plaisted, C.E.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York, NY IEEE 01.12.2004
Institute of Electrical and Electronics Engineers
Schlagworte:
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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Beschreibung
Zusammenfassung: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.
Bibliographie:ObjectType-Article-2
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ISSN:1552-3098
DOI:10.1109/TRO.2004.829461