Title

An Optimal Solution To Mobile Robot Trajectory Generation In The Presence Of Moving Obstacles

Abstract

In our recent work [5], by explicitly considering kinematic model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form and expressed in terms of one adjustable parameter for the purpose of collision avoidance. In this paper, by setting a performance index with regard to control energy, we formulate the trajectory generation problem as a constrained optimization problem based on the result in [5], and give an optimal solution to the nonholonomic mobile robot motion planning problem in a dynamic and changing environment. Simulation results have shown the effectiveness of the proposed method.

Publication Date

7-19-2004

Publication Title

Conference on Robotics and Remote Systems- Proceedings

Volume

10

Number of Pages

432-437

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

Socpus ID

3042795163 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/3042795163

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