Moving Obstacle Avoidance for a Mobile Robot

被引：2

作者：

Park, Junghee ^{[1
]}

Choi, Jeong S. ^{[2
]}

Kin, Jimin ^{[2
]}

Lee, Beom H. ^{[2
]}

机构：

[1] Korea Mil Acad, Dept Elect Engn & Informat, Seoul, South Korea

[2] Seoul Natl Univ, Sch Elect Engn & Comp Sci, Seoul, South Korea

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-3 | 2009年

关键词：

D O I：

10.1109/ICCA.2009.5410171

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the near time-optimal motion planning method for moving obstacle avoidance. We decomposed the robot motion into three phases: approach, contact, and detachment phase. The constraints of each phase for a feasible collision-free robot motion were described by three necessary and sufficient conditions and one sufficient condition. We formulated the near time-optimal motion planning as optimization problem with inequality constraints. Simulations present the efficiency of the results by comparing them with two widely used approaches: reactive and path-velocity decomposed approach.

引用

页码：367 / +

页数：2

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