Paper Info
Title
Time-Optimal Motion Planning Of Skid-Steer Mobile Robots In The Presence Of Obstacles
Abstract
This paper addresses a problem of time-optimal motion planning of skid-steer mobile robots amidst obstacles. Due to nonholonomic constraints, actuator constraints, and state constraints by obstacle avoidance, the! planning problem is a complicated one. In this study, the problem is divided into two sub-problems, i.e.,(1) time-optimization of trajectory along specified path, (2) search for the optimal path, to alleviate the difficulties of the original problem. Then two methods to solve the problems are proposed, using an idea of path parameter and parametrization by B-spline function. Finally, quasi-optimal solutions for the original problem are obtained by combining the two algorithms. A simulation result shows an effectiveness of the proposed motion planner.
Year
DOI
Venue
1998
10.1109/IROS.1998.724592
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS
Keywords
Field
DocType
obstacle avoidance,motion planning,mobile robots,path planning,trajectory,kinematics,angular velocity,mobile robot,acceleration,axles,optimal control,spline function
Motion planning,Obstacle avoidance,Kinematics,Optimal control,Control theory,Computer science,Control engineering,Nonholonomic system,Mobile robot,Trajectory,Actuator
Conference
Citations 
PageRank 
References 
7
1.30
3
Authors
3
Name
Order
Citations
PageRank
Motoji Yamamoto123445.92
Makoto Iwamura211213.64
Akira Mohri314041.98