On-line motion planning for mobile robots in non-stationary environments

K. J. Kyriakopoulos, G. N. Saridis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The problem of real-time motion planning of a mobile robot in an environment containing moving obstacles is examined. The considered dynamic model, constraints, and assumptions are presented. Objects, including the robot, are modeled as convex polyhedra. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from offline planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, consistency with the nominal plan is desirable. An optimization problem is stated, and a close-to-optimal solution is derived. Simulation results verify the value of the proposed strategy.

Original languageEnglish (US)
Title of host publicationProc 5 IEEE Int Symp Intell Control 90
PublisherPubl by IEEE
Pages694-699
Number of pages6
ISBN (Print)0818621087
StatePublished - 1990
EventProceedings of the 5th IEEE International Symposium on Intelligent Control 1990 - Philadelphia, PA, USA
Duration: Sep 5 1990Sep 7 1990

Publication series

NameProc 5 IEEE Int Symp Intell Control 90

Conference

ConferenceProceedings of the 5th IEEE International Symposium on Intelligent Control 1990
CityPhiladelphia, PA, USA
Period9/5/909/7/90

ASJC Scopus subject areas

  • Engineering(all)

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