Title

A REDUCED-ORDER ANALYTICAL SOLUTION TO MOBILE ROBOT TRAJECTORY GENERATION IN THE PRESENCE OF MOVING OBSTACLES

Authors

Authors

J. Wang; Z. Qu; Y. Guo;J. Yang

Comments

Authors: contact us about adding a copy of your work at STARS@ucf.edu

Abstract

In this paper, the problem of determining a collision-free trajectory for a car-like mobile robot moving in a dynamically changing environment is addressed. By explicitly considering the kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form. In particular, feasible trajectories are parameterized as a family of fifth-order piecewise-constant polynomials and their solutions can be solved from the real-time updated boundary conditions and a set of new second-order polynomial inequalities formulated according to collision-avoidance conditions. The obtained solutions are analytical and can be updated in real time once a change in the environment is detected. Simulation shows that the proposed method is effective.

Journal Title

International Journal of Robotics & Automation

Volume

24

Issue/Number

4

Publication Date

1-1-2009

Document Type

Article

First Page

283

Last Page

291

WOS Identifier

WOS:000273906300001

ISSN

0826-8185

Share

COinS