Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

Ioannis Arvanitakis; Anthony Tzes

doi:10.1109/MED.2012.6265626

Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

Ioannis Arvanitakis, Anthony Tzes

University of Patras

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

6 Citations (Scopus)

Abstract

In this article, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions. Given the maximum linear attainable velocity of the robot, equidistant points on the robot's resulting path are selected. A third-order Bézier-curve is used for time and space parameterization of each segment of the path between neighbouring points. This curve is optimized so as the robot to be capable of moving along these segments given the maximum constraints on its linear and angular velocity. A simple non-linear feedback controller is used for tracking control of the trajectory. Simulation studies indicate the efficiency of the proposed method in optimizing the robot's trajectory.

Original language	English
Title of host publication	20th Mediterranean Conference on Control Automation (MED)
Publisher	IEEE
Pages	128-133
Number of pages	6
ISBN (Electronic)	978-1-4673-2529-5, 978-1-4673-2531-8
ISBN (Print)	978-1-4673-2530-1
DOIs	https://doi.org/10.1109/MED.2012.6265626
Publication status	Published - 1 Jul 2012
Event	20th Mediterranean Conference on Control & Automation - Barcelona, Spain Duration: 3 Jul 2012 → 6 Jul 2012 Conference number: 20

Conference

Conference	20th Mediterranean Conference on Control & Automation
Abbreviated title	MED 2012
Country/Territory	Spain
City	Barcelona
Period	3/07/12 → 6/07/12

Keywords

Trajectory
Nickel
Harmonic analysis
Mobile robots
Collision avoidance
Bismuth

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10.1109/MED.2012.6265626

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title = "Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance",

abstract = "In this article, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions. Given the maximum linear attainable velocity of the robot, equidistant points on the robot's resulting path are selected. A third-order B{\'e}zier-curve is used for time and space parameterization of each segment of the path between neighbouring points. This curve is optimized so as the robot to be capable of moving along these segments given the maximum constraints on its linear and angular velocity. A simple non-linear feedback controller is used for tracking control of the trajectory. Simulation studies indicate the efficiency of the proposed method in optimizing the robot's trajectory.",

keywords = "Trajectory, Nickel, Harmonic analysis, Mobile robots, Collision avoidance, Bismuth",

author = "Ioannis Arvanitakis and Anthony Tzes",

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doi = "10.1109/MED.2012.6265626",

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pages = "128--133",

booktitle = "20th Mediterranean Conference on Control Automation (MED)",

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T1 - Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

AU - Arvanitakis, Ioannis

AU - Tzes, Anthony

N1 - Conference code: 20

PY - 2012/7/1

Y1 - 2012/7/1

N2 - In this article, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions. Given the maximum linear attainable velocity of the robot, equidistant points on the robot's resulting path are selected. A third-order Bézier-curve is used for time and space parameterization of each segment of the path between neighbouring points. This curve is optimized so as the robot to be capable of moving along these segments given the maximum constraints on its linear and angular velocity. A simple non-linear feedback controller is used for tracking control of the trajectory. Simulation studies indicate the efficiency of the proposed method in optimizing the robot's trajectory.

AB - In this article, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions. Given the maximum linear attainable velocity of the robot, equidistant points on the robot's resulting path are selected. A third-order Bézier-curve is used for time and space parameterization of each segment of the path between neighbouring points. This curve is optimized so as the robot to be capable of moving along these segments given the maximum constraints on its linear and angular velocity. A simple non-linear feedback controller is used for tracking control of the trajectory. Simulation studies indicate the efficiency of the proposed method in optimizing the robot's trajectory.

KW - Trajectory

KW - Nickel

KW - Harmonic analysis

KW - Mobile robots

KW - Collision avoidance

KW - Bismuth

U2 - 10.1109/MED.2012.6265626

DO - 10.1109/MED.2012.6265626

M3 - Conference proceeding

SN - 978-1-4673-2530-1

SP - 128

EP - 133

BT - 20th Mediterranean Conference on Control Automation (MED)

PB - IEEE

T2 - 20th Mediterranean Conference on Control & Automation

Y2 - 3 July 2012 through 6 July 2012

ER -

Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

Abstract

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Keywords

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