Kj. Kyriakopoulos et Gn. Saridis, OPTIMAL AND SUBOPTIMAL MOTION PLANNING FOR COLLISION-AVOIDANCE OF MOBILE ROBOTS IN NONSTATIONARY ENVIRONMENTS, Journal of intelligent & robotic systems, 11(3), 1994, pp. 223-267
Citations number
22
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
An optimal control formulation of the problem of collision avoidance o
f mobile robots moving in terrains containing moving obstacles is pres
ented. A dynamic model of the mobile robot and the dynamic constraints
are derived. Collision avoidance is guaranteed if the minimum distanc
e between the robot and the objects is nonzero. A nominal trajectory i
s assumed to be known from off-line planning. The main idea is to chan
ge the velocity along the nominal trajectory so that collisions are av
oided. Furthermore, time consistency with the nominal plan is desirabl
e. Two solutions are obtained: (1) A numerical solution of the optimiz
ation problem and a perturbation type of control to update the optimal
plan and (2) A computationally efficient method giving near optimal s
olutions. Simulation results verify the value of the proposed strategi
es and allow for comparisons.