TY - GEN
T1 - An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments
AU - Kyriakopoulos, K. J.
AU - Saridis, G. N.
N1 - Funding Information:
Acknowledgement--Twhoisrk has been supportedb y the NASA Center for Intelligent Robotic Systemsf or Space Exploration (CIRSSE) under the NASA Grant NAGW-1333.T he first author has been partially supportedb y a fellowshipo f AlexanderO nasisF oundation.
PY - 1992/4
Y1 - 1992/4
N2 - A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Simulation results verify the value of the proposed strategy.
AB - A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Simulation results verify the value of the proposed strategy.
UR - http://www.scopus.com/inward/record.url?scp=0026842489&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0026842489&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0026842489
SN - 0818627204
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 194
EP - 199
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings 1992 IEEE International Conference on Robotics and Automation
Y2 - 12 May 1992 through 14 May 1992
ER -