Title :
An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments
Author :
Kyriakopoulos, K.J. ; Saridis, G.N.
Author_Institution :
Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Simulation results verify the value of the proposed strategy
Keywords :
feedback; mobile robots; path planning; position control; collision avoidance; collision prediction; dynamic model; feedback control; local asymptotic stability; mobile robots; off-line planning; path planning; trajectory control; Collision avoidance; Intelligent robots; Mobile robots; Motion planning; NASA; Orbital robotics; Path planning; Robotics and automation; Space technology; Trajectory;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220263