Title

A Reduced-Order Analytical Solution To Mobile Robot Trajectory Generation In The Presence Of Moving Obstacles

Keywords

Collision avoidance; Moving obstacles; Nonholonomic mobile robot; Trajectory planning

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.

Publication Date

12-1-2009

Publication Title

International Journal of Robotics and Automation

Volume

24

Issue

4

Number of Pages

283-291

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.2316/Journal.206.2009.4.206-2982

Socpus ID

77950850477 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/77950850477

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