Global trajectory generation for nonholonomic robots in dynamic environments

Yi Guo, Yi Long, Weihua Sheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1324-1329
Number of pages6
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period10/04/0714/04/07

Keywords

  • Collision avoidance
  • Motion planning
  • Moving obstacles
  • Steering control
  • Trajectory generation

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