DocumentCode :
249821
Title :
The speed graph method: Time optimal navigation among obstacles subject to safe braking constraint
Author :
Manor, Gil ; Rimon, Elon
Author_Institution :
Dept. of Mech. Eng., Technion - Israel Inst. of Technol., Haifa, Israel
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
1155
Lastpage :
1160
Abstract :
This paper describes a method for computing the global time optimal path of a mobile robot navigating among obstacles subject to safe braking constraints. The paper first generalizes the classical Brachistochrone problem into a time optimal navigation problem, where the mobile robot navigates under a braking safety constraint near a point obstacle or a wall segment. The time optimal navigation problem is then formulated for general polygonal environments. Based on this formulation, the paper constructs a speed graph for the environment which consists of time optimal arcs that connect critical via points. The speed graph is then used to identify the path homotopy class which most likely contains the global time optimal path. Once a candidate homotopy class is selected, the exact time optimal path subject to safe braking constraints is computed within the homotopy class based on convexity properties of these paths. The results are illustrated with examples, described as readily implementable procedures, and demonstrated with experiments.
Keywords :
braking; collision avoidance; graph theory; mobile robots; safety; time optimal control; classical Brachistochrone problem; convexity properties; general polygonal environments; global time optimal path; mobile robot navigation; path homotopy class; point obstacle; safe braking constraint; speed graph method; time optimal arcs; time optimal navigation problem; wall segment; Joining processes; Mobile robots; Navigation; Robot kinematics; Safety; Space exploration;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6906999
Filename :
6906999
Link To Document :
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