Title :
Optimal trajectory generation for nonholonomic robots in dynamic environments
Author :
Guo, Yi ; Tang, Tang
Author_Institution :
Dept. of Electr. & Comput. Eng., Stevens Inst. of Technol., Hoboken, NJ
Abstract :
We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic. An optimal performance index is set up so that the parameterized trajectory stays close to the shortest straight-line path. Combining with the collision avoidance criterion, optimal collision-free trajectory can be generated real time as the solution is expressed in its closed-form. We show Matlab simulation results to demonstrate the performance of the trajectories.
Keywords :
collision avoidance; mobile robots; Matlab simulation; car-like robots; collision avoidance criterion; motion planning; nonholonomic mobile robot; optimal collision-free trajectory; optimal performance index; optimal trajectory generation; shortest straight-line path; Collision avoidance; Mobile robots; Motion planning; Performance analysis; Polynomials; Robot kinematics; Robotics and automation; Trajectory; USA Councils; Wheels;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543597