TY - GEN
T1 - Optimal motion planning for collision avoidance of mobile robots in non-stationary environments
AU - Kyriakopoulos, K. J.
AU - Saridis, G. N.
PY - 1992
Y1 - 1992
N2 - 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.
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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U2 - 10.23919/acc.1992.4792355
DO - 10.23919/acc.1992.4792355
M3 - Conference contribution
AN - SCOPUS:0027088171
SN - 0780302109
SN - 9780780302105
T3 - Proceedings of the American Control Conference
SP - 1484
EP - 1488
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
T2 - Proceedings of the 1992 American Control Conference
Y2 - 24 June 1992 through 26 June 1992
ER -