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

Ioannis Arvanitakis, Anthony Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-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 languageEnglish
    Title of host publication20th Mediterranean Conference on Control Automation (MED)
    PublisherIEEE
    Pages128-133
    Number of pages6
    ISBN (Electronic)978-1-4673-2529-5, 978-1-4673-2531-8
    ISBN (Print)978-1-4673-2530-1
    DOIs
    Publication statusPublished - 1 Jul 2012
    Event20th Mediterranean Conference on Control & Automation - Barcelona, Spain
    Duration: 3 Jul 20126 Jul 2012
    Conference number: 20

    Conference

    Conference20th Mediterranean Conference on Control & Automation
    Abbreviated titleMED 2012
    Country/TerritorySpain
    CityBarcelona
    Period3/07/126/07/12

    Keywords

    • Trajectory
    • Nickel
    • Harmonic analysis
    • Mobile robots
    • Collision avoidance
    • Bismuth

    Fingerprint

    Dive into the research topics of 'Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance'. Together they form a unique fingerprint.

    Cite this