A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles
Abbreviated Journal Title
IEEE Trans. Robot. Autom.
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
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.
Ieee Transactions on Robotics and Automation
Article; Proceedings Paper
"A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles" (2004). Faculty Bibliography 2000s. 4723.