Abstract
An optimal control formulation of the problem of collision avoidance of mobile robots moving in 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 minimum distance between the robot and the objects 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. Furthermore, time consistency with the nominal plan is desirable. Two solutions are obtained: (1) A numerical solution of the optimization problem and a perturbation type of control to update the optimal plan and (2) A computationally efficient method giving near optimal solutions. Simulation results verify the value of the proposed strategies and allow for comparisons.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 223-267 |
| Number of pages | 45 |
| Journal | Journal of Intelligent & Robotic Systems |
| Volume | 11 |
| Issue number | 3 |
| DOIs | |
| State | Published - Oct 1994 |
Keywords
- Mobile robots
- collision avoidance
- motion planning
- moving obstacles
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering