A motion planning method for omni-directional mobile robot based on the anisotropic characteristics

被引：1

作者：

Leng, Chuntao ^{[1
]}

Cao, Qixin ^{[2
]}

Huang, Yanwen ^{[1
]}

机构：

[1] Research Institute of Robotics, Shanghai Jiaotong University, Shanghai, 200240

[2] State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai, 200240

来源：

International Journal of Advanced Robotic Systems | 2008年 / 5卷 / 04期

关键词：

Anisotropic-function; Artificial potential field; Motion planning; Omni-directional mobile robot; Revolving factor;

D O I：

10.5772/6228

中图分类号：

学科分类号：

摘要：

A more suitable motion planning method for an omni-directional mobile robot (OMR), an improved APF method (iAPF), is proposed in this paper by introducing the revolving factor into the artificial potential field (APF). Accordingly, the motion direction derived from traditional artificial potential field (tAPF) is regulated. The maximum velocity, maximum acceleration and energy consumption of the OMR moving in different directions are analyzed, based on the kinematic and dynamic constraints of an OMR, and the anisotropy of OMR is presented in this paper. Then the novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time-optimality, stability and efficacy-optimality. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. Finally, simulations and experiments are carried out to demonstrate that the motion resulting from the iAPF is high-speed, highly stable and highly efficient when compared to the tAPF.

引用

页码：327 / 340

页数：13

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