Title

A New Analytical Solution To Mobile Robot Trajectory Generation In The Presence Of Moving Obstacles

Keywords

Car-like robot; Chained form; Moving obstacle; Nonholonomic systems; Obstacle avoidance; Piecewise parameterization; Polynomial inputs; Trajectory generation

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. © 2004 IEEE.

Publication Date

12-1-2004

Publication Title

IEEE Transactions on Robotics

Volume

20

Issue

6

Number of Pages

978-993

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/TRO.2004.829461

Socpus ID

10944222960 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/10944222960

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