Optimal trajectory generation for nonholonomic robots in dynamic environments

被引：14

作者：

Guo, Yi ^{[1
]}

Tang, Tang ^{[1
]}

机构：

[1] Stevens Inst Technol, Dept Elect & Comp Engn, Hoboken, NJ 07030 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543597

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study optimal trajectory generation for non-holonomic 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.

引用

页码：2552 / 2557

页数：6

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