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

K. J. Kyriakopoulos; G. N. Saridis

doi:10.23919/acc.1992.4792355

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

K. J. Kyriakopoulos, G. N. Saridis

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	1484-1488
Number of pages	5
ISBN (Print)	0780302109, 9780780302105
DOIs	https://doi.org/10.23919/acc.1992.4792355
State	Published - 1992
Event	Proceedings of the 1992 American Control Conference - Chicago, IL, USA Duration: Jun 24 1992 → Jun 26 1992

Publication series

Name	Proceedings of the American Control Conference
Volume	2
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1992 American Control Conference
City	Chicago, IL, USA
Period	6/24/92 → 6/26/92

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/acc.1992.4792355

Cite this

Optimal motion planning for collision avoidance of mobile robots in non-stationary environments. / Kyriakopoulos, K. J.; Saridis, G. N.
Proceedings of the American Control Conference. Publ by American Automatic Control Council, 1992. p. 1484-1488 (Proceedings of the American Control Conference; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kyriakopoulos, KJ & Saridis, GN 1992, Optimal motion planning for collision avoidance of mobile robots in non-stationary environments. in Proceedings of the American Control Conference. Proceedings of the American Control Conference, vol. 2, Publ by American Automatic Control Council, pp. 1484-1488, Proceedings of the 1992 American Control Conference, Chicago, IL, USA, 6/24/92. https://doi.org/10.23919/acc.1992.4792355

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AB - 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.

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

Abstract

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