TY - GEN
T1 - Optimal trajectory generation for nonholonomic robots in dynamic environments
AU - Guo, Yi
AU - Tang, Tang
PY - 2008
Y1 - 2008
N2 - We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic. An optimal performance index is set up so that the parameterized trajectory stays close to the shortest straight-line path. Combining with the collision avoidance criterion, optimal collision-free trajectory can be generated real time as the solution is expressed in its closed-form. We show Matlab simulation results to demonstrate the performance of the trajectories.
AB - We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic. An optimal performance index is set up so that the parameterized trajectory stays close to the shortest straight-line path. Combining with the collision avoidance criterion, optimal collision-free trajectory can be generated real time as the solution is expressed in its closed-form. We show Matlab simulation results to demonstrate the performance of the trajectories.
UR - http://www.scopus.com/inward/record.url?scp=51649094913&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649094913&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543597
DO - 10.1109/ROBOT.2008.4543597
M3 - Conference contribution
AN - SCOPUS:51649094913
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2552
EP - 2557
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -