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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Vydáno v:	IEEE transactions on robotics Ročník 20; číslo 6; s. 978 - 993
Hlavní autoři:	Zhihua Qu, Jing Wang, Plaisted, C.E.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York, NY IEEE 01.12.2004 Institute of Electrical and Electronics Engineers
Témata:	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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