Title

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

Authors

Authors

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

Comments

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

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

Share

COinS