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

    Authors

    Z. H. Qu; J. Wang;C. E. Plaisted

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Robot. Autom.

    Keywords

    car-like robot; chained form; moving obstacle; nonholonomic systems; obstacle avoidance; piecewise parameterization; polynomial inputs; trajectory generation; NONLINEAR-SYSTEMS; AVOIDANCE; Automation & Control Systems; Engineering, Electrical & Electronic; Robotics

    Abstract

    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.

    Journal Title

    Ieee Transactions on Robotics and Automation

    Volume

    20

    Issue/Number

    6

    Publication Date

    1-1-2004

    Document Type

    Article; Proceedings Paper

    Language

    English

    First Page

    978

    Last Page

    993

    WOS Identifier

    WOS:000225484300005

    ISSN

    1042-296X

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