شماره ركورد كنفرانس :
3297
عنوان مقاله :
An Optimal Motion Planning and Obstacle Avoidance Algorithm Based on the Finite Time Velocity Obstacle Approach
عنوان به زبان ديگر :
An Optimal Motion Planning and Obstacle Avoidance Algorithm Based on the Finite Time Velocity Obstacle Approach
پديدآورندگان :
Samavati Sepehr School of Electrical and Computer Engineering Human and Robot Interaction Lab. University of Tehran , Tale Masouleh Mehdi School of Electrical and Computer Engineering Human and Robot Interaction Lab. University of Tehran , Zarei Mojaba Faculty of New Sciences and Technologies Human and Robot Interaction Lab. University of Tehran
كليدواژه :
collision avoidance , optimization , finite-time velocity obstacle , motion planning , Terms—component
عنوان كنفرانس :
نوزدهمين سمپوزيوم بين المللي هوش مصنوعي و پردازش سيگنال
چكيده لاتين :
This paper addresses a collision-free motion planning
algorithm of mobile robots based on the synergy of discrete
motion planning and optimal Finite-time Velocity Obstacle
(FVO). The proposed approach is employed for motion planning
of a mobile robot to the end of passing through an unknown
environment. In this regard, predicated on the non-convex nature
of the FVO constraints, they are approximated by a parabolic
function and the approximated function is used to calculate the
optimal next step velocity of the mobile robot in order to ensure
the collision free motion. The reported results reveal that by
considering the maximum velocity of the mobile robot, obtained
computation time is less than 0.00015 seconds in each stage for
single mobile robot scenarios which can be considered fast enough
for robot motion planning tasks for the mobile robot under study.
