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.
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页码：367 / +
页数：2
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