Optimal trajectory generation for nonholonomic robots in dynamic environments

被引：14
|
作者：
Guo, Yi [1 ]
Tang, Tang [1 ]
机构：
[1] Stevens Inst Technol, Dept Elect & Comp Engn, Hoboken, NJ 07030 USA
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
D O I：
10.1109/ROBOT.2008.4543597
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We study optimal trajectory generation for non-holonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic. An optimal performance index is set up so that the parameterized trajectory stays close to the shortest straight-line path. Combining with the collision avoidance criterion, optimal collision-free trajectory can be generated real time as the solution is expressed in its closed-form. We show Matlab simulation results to demonstrate the performance of the trajectories.
引用
收藏
页码：2552 / 2557
页数：6
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