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

Ioannis Arvanitakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

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
CountrySpain
CityBarcelona
Period3/07/126/07/12

Keywords

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

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  • Cite this

    Arvanitakis, I., & Tzes, A. (2012). Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. In 20th Mediterranean Conference on Control Automation (MED) (pp. 128-133). IEEE. https://doi.org/10.1109/MED.2012.6265626