NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Optimal motion planning for collision avoidance of mobile robots in non-stationary environmentsAn optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the object is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.
Document ID
19930038884
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kyriakopoulos, K. J.
(New York State Center for Advanced Technology in Automation and Robotics Troy, United States)
Saridis, G. N.
(NASA Center of Intelligent Robotic Systems for Space Exploration; Rensselaer Polytechnic Inst. Troy, NY, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vol. 2 (A93-22776 07-63)
Publisher: Institute of Electrical and Electronics Engineers
Subject Category
Cybernetics
Accession Number
93A22881
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available