Optimized trajectory planning for mobile robot in the presence of moving obstacles

Chun Hsu Ko, Kuu-Young Young, Yi Hung Hsieh

研究成果: Conference contribution同行評審

9 引文 斯高帕斯(Scopus)

摘要

Navigation and obstacle avoidance are essential for mobile robots. In the dynamic environment, the obstacles may move with varying velocities. It is thus crucial to develop an effective scheme for moving obstacle avoidance. Motivated by this, in this paper, we propose such a scheme based on parametric trajectory planning. With the conditions for collision avoidance formulated as the constraints, a feasible collision-free trajectory is then derived by solving an unconstrained optimization problem. The corresponding control torques for robot governing is calculated using the dynamic model and derived trajectory, with the information about the obstacle not known a priori. Simulations are performed to demonstrate the efficiency of the proposed approach.

原文English
主出版物標題Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
發行者Institute of Electrical and Electronics Engineers Inc.
頁面70-75
頁數6
ISBN(電子)9781479936335
DOIs
出版狀態Published - 9 4月 2015
事件2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
持續時間: 6 3月 20158 3月 2015

出版系列

名字Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Conference

Conference2015 IEEE International Conference on Mechatronics, ICM 2015
國家/地區Japan
城市Nagoya
期間6/03/158/03/15

指紋

深入研究「Optimized trajectory planning for mobile robot in the presence of moving obstacles」主題。共同形成了獨特的指紋。

引用此