DocumentCode :
2937208
Title :
Near Time-optimal Constrained Trajectory Planning on Outdoor Terrain
Author :
Kobilarov, Marin B. ; Sukhatme, Gaurav S.
Author_Institution :
Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems University of Southern California, Los Angeles, USA mkobilar@robotics.usc.edu
fYear :
2005
fDate :
18-22 April 2005
Firstpage :
1821
Lastpage :
1828
Abstract :
We present an outdoor terrain planner that finds near optimal trajectories under dynamic and kinematic constraints. The planner can find solutions in close to real time by relaxing some of the assumptions associated with costly rigid body simulation and complex terrain surface interactions. Our system is based on control-driven Proba bilistic Roadmaps and can efficiently find and optimize a near time-minimum trajectory. We present simulated results with artificial environments, as well as a real robot experiment using Segway Robotic Mobile Platform.
Keywords :
Acceleration; Computational modeling; Control systems; Embedded system; Kinematics; Laboratories; Mobile robots; Robotics and automation; Trajectory; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
Type :
conf
DOI :
10.1109/ROBOT.2005.1570378
Filename :
1570378
Link To Document :
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