Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

Ioannis Arvanitakis; Anthony Tzes

doi:10.1109/MED.2012.6265626

Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

Ioannis Arvanitakis, Anthony Tzes

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

Abstract

In this article, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions. Given the maximum linear attainable velocity of the robot, equidistant points on the robot's resulting path are selected. A third-order Bézier-curve is used for time and space parameterization of each segment of the path between neighbouring points. This curve is optimized so as the robot to be capable of moving along these segments given the maximum constraints on its linear and angular velocity. A simple non-linear feedback controller is used for tracking control of the trajectory. Simulation studies indicate the efficiency of the proposed method in optimizing the robot's trajectory.

Original language	English (US)
Title of host publication	2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
Pages	128-133
Number of pages	6
DOIs	https://doi.org/10.1109/MED.2012.6265626
State	Published - 2012
Event	2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain Duration: Jul 3 2012 → Jul 6 2012

Publication series

Name	2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings

Other

Other	2012 20th Mediterranean Conference on Control and Automation, MED 2012
Country/Territory	Spain
City	Barcelona
Period	7/3/12 → 7/6/12

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/MED.2012.6265626

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Arvanitakis, I., & Tzes, A. (2012). Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings (pp. 128-133). Article 6265626 (2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings). https://doi.org/10.1109/MED.2012.6265626

Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. / Arvanitakis, Ioannis; Tzes, Anthony.
2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 128-133 6265626 (2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings).

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

Arvanitakis, I & Tzes, A 2012, Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. in 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings., 6265626, 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings, pp. 128-133, 2012 20th Mediterranean Conference on Control and Automation, MED 2012, Barcelona, Spain, 7/3/12. https://doi.org/10.1109/MED.2012.6265626

Arvanitakis I, Tzes A. Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 128-133. 6265626. (2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings). doi: 10.1109/MED.2012.6265626

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Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

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