Title :
Moving obstacle avoidance for a mobile robot
Author :
Park, Junghee ; Choi, Jeong S. ; Kin, Jimin ; Lee, Beom H.
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea
Abstract :
This paper presents the near time-optimal motion planning method for moving obstacle avoidance. We decomposed the robot motion into three phases: approach, contact, and detachment phase. The constraints of each phase for a feasible collision-free robot motion were described by three necessary and sufficient conditions and one sufficient condition. We formulated the near time-optimal motion planning as optimization problem with inequality constraints. Simulations present the efficiency of the results by comparing them with two widely used approaches: reactive and path-velocity decomposed approach.
Keywords :
collision avoidance; mobile robots; motion control; optimal control; approach phase; collision-free robot motion; contact phase; detachment phase; mobile robot; moving obstacle avoidance; near time-optimal motion planning method; optimization problem; robot motion decomposition; Collision avoidance; Computational complexity; Military computing; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot motion; Robotics and automation; Sufficient conditions;
Conference_Titel :
Control and Automation, 2009. ICCA 2009. IEEE International Conference on
Conference_Location :
Christchurch
Print_ISBN :
978-1-4244-4706-0
Electronic_ISBN :
978-1-4244-4707-7
DOI :
10.1109/ICCA.2009.5410171
