- Tytuł:
- 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. - Powiązania:
- https://bibliotekanauki.pl/articles/384978.pdf
- Data publikacji:
- 2011
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
path planning
obstacle avoidance
ODE
mobile robots - Opis:
- 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.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 1; 23-29
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł