Abstract
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. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 309-322 |
| Number of pages | 14 |
| Journal | Automatica |
| Volume | 29 |
| Issue number | 2 |
| DOIs | |
| State | Published - Mar 1993 |
Keywords
- Lyapunov stability
- Mobile robots
- collision avoidance
- collision prediction
- motion planning
- potential functions
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering