Real-time coordinated trajectory planning and obstacle avoidance for mobile robots

• Autorzy: McNinch L. C. , Soltan R. A. , Muske K. R. , Ashrafiuon H. , Peyton J. C.
• Języki publikacji: EN

Abstrakty

EN

A novel method for real-time coordinated trajectory planning and obstacle avoidance of autonomous mobile robot systems is presented. The desired autonomous system trajectories are generated from a set of first order ODEs. The solution to this system of ODEs converges to either a desired target position or a closed orbit de.ned by a limit cycle. Coordinated control is achieved by utilizing the nature of limit cycles where independent, non-crossing paths are automatically generated from different initial positions that smoothly converge to the desired closed orbits. Real-time obstacle avoidance is achieved by specifying a transitional elliptically shaped closed orbit around the nearest obstacle blocking the path. This orbit determines an alternate trajectory that avoids the obstacle. When the obstacle no longer blocks a direct path to the original target trajectory, a transitional trajectory that returns to the original path is defined. The coordination and obstacle avoidance methods are demonstrated experimentally using differential-drive wheeled mobile robots.

Słowa kluczowe

EN

path planning; obstacle avoidance; ODE; mobile robots

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2011
• Tom: Vol. 5, No. 1
• Strony: 23--29
• Opis fizyczny: Bibliogr. 12 poz., rys.

Twórcy

autor

McNinch L. C.

autor

Soltan R. A.

autor

Muske K. R.

autor

Ashrafiuon H.

autor

Peyton J. C.

• Center for Nonlinear Dynamics and Control Villanova University, Villanova, PA 19085 USA,

Bibliografia

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