Optimal motion planning for collision avoidance of mobile robots in non-stationary environments

K. J. Kyriakopoulos, G. N. Saridis

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

Abstract

An optimal control formulation of the problem of collision avoidance of 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 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. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages1484-1488
Number of pages5
ISBN (Print)0780302109, 9780780302105
DOIs
StatePublished - 1992
EventProceedings of the 1992 American Control Conference - Chicago, IL, USA
Duration: Jun 24 1992Jun 26 1992

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Other

OtherProceedings of the 1992 American Control Conference
CityChicago, IL, USA
Period6/24/926/26/92

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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