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

    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