TY - GEN
T1 - Global trajectory generation for nonholonomic robots in dynamic environments
AU - Guo, Yi
AU - Long, Yi
AU - Sheng, Weihua
PY - 2007
Y1 - 2007
N2 - We consider the problem of generating global feasible trajectories for nonholonomic mobile robots in the presence of moving obstacles. The global trajectory is composed of regional path segments, which are parametric polynomials incorporating collision avoidance criteria. Collision avoidance with moving obstacles is achieved by changing parameters of the regional trajectories, and the collision avoidance parameters are solutions to a second-order inequality and are obtainable analytically. To have a smooth global trajectory, we also develop a smooth irregular curve method to generate continuous boundary conditions to connecting regional trajectories. Steering control laws are constructed by means of differential flatness. The proposed technique works in dynamic environments where a set of global way-points are available, and the velocities of the obstacles are obtainable real time. Simulation results show the effectiveness of the methods.
AB - We consider the problem of generating global feasible trajectories for nonholonomic mobile robots in the presence of moving obstacles. The global trajectory is composed of regional path segments, which are parametric polynomials incorporating collision avoidance criteria. Collision avoidance with moving obstacles is achieved by changing parameters of the regional trajectories, and the collision avoidance parameters are solutions to a second-order inequality and are obtainable analytically. To have a smooth global trajectory, we also develop a smooth irregular curve method to generate continuous boundary conditions to connecting regional trajectories. Steering control laws are constructed by means of differential flatness. The proposed technique works in dynamic environments where a set of global way-points are available, and the velocities of the obstacles are obtainable real time. Simulation results show the effectiveness of the methods.
KW - Collision avoidance
KW - Motion planning
KW - Moving obstacles
KW - Steering control
KW - Trajectory generation
UR - http://www.scopus.com/inward/record.url?scp=36348982739&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348982739&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363168
DO - 10.1109/ROBOT.2007.363168
M3 - Conference contribution
AN - SCOPUS:36348982739
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1324
EP - 1329
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -