Paper Info
Title
Safe path planning and control constraints for autonomous goal seeking
Abstract
Many mobile robot path planning algorithms produce changing intermediate goal coordinates for a mobile robot to pursue. These provide motoring speed/torque signals, based upon local sensor information and the position of the global target, with little regard for the vehicle dynamics. In this article mobile robot path planning parameters are related to the application of correct, general control laws. The derivation of desired velocity signals which feed a vehicle's speed controller and conform to the velocity and acceleration limits of the vehicle is presented. A safe operating area, for the individual wheels of a vehicle is derived in acceleration-velocity space. A trajectory planner which produces correct displacement, velocity and acceleration, profiles as a function of time is derived. These trajectories drive the vehicle to its target, while always keeping within the defined safe operating acceleration-velocity limits.
Year
DOI
Venue
2002
10.1109/IRDS.2002.1041623
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference  
Keywords
Field
DocType
mobile robots,path planning,acceleration profiles,acceleration-velocity space,autonomous goal seeking,changing intermediate goal coordinates,displacement profiles,mobile robot path planning algorithms,motoring speed signals,motoring torque signals,path control constraints,path planning constraints,vehicle dynamics,velocity profiles
Motion planning,Goal seeking,Torque,Computer science,Control theory,Control engineering,Vehicle dynamics,Acceleration,Trajectory,Mobile robot,Electronic speed control
Conference
Volume
Citations 
PageRank 
3
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Martin Adams115021.18
Javier Ibanez Guzman212817.14
martin adariis300.34
Ibanez-Guzman, J.400.34