Title :
Minimum-time trajectories for kinematic mobile robots and other planar rigid bodies with finite control sets
Author :
Furtuna, Andrei A. ; Lu, Wenyu ; Wang, Weifu ; Balkcom, Devin J.
Author_Institution :
Dartmouth Coll., USA
Abstract :
This paper presents first attempts at a method for searching for time-optimal trajectories for a general model of mobile robots that includes Dubins and Reeds-Shepp cars, differential-drive robots, and omnidirectional robots as special cases. The paper takes as a starting point recent results by the authors that describe necessary conditions on the trajectories, based on Pontryagin´s Maximum Principle. These necessary conditions reduce the problem of finding an optimal trajectory between start and goal to a few one-dimensional search problems. This search is not formally guaranteed to find a near-optimal trajectory if the sampling of the search space is not fine enough, but comparison to existing analytical results for specific systems, and a complete numerical search over trajectories with only a few control switches, demonstrates effectiveness of the method.
Keywords :
Aerospace electronics; Kinematics; Mobile robots; Switches; Trajectory;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094923