Name
Abstract | ||
|---|---|---|
Dynamic trajectory planning is addressed. The case of a car-like robot, A, with bounded velocity and acceleration, moving in a dynamic workspace W=R2 is considered. The concept of adjacent paths is introduced, and used within a novel motion planning schema which operates in two complementary stages, paths-planning and trajectory-planning. In the paths-planning stage, a set of adjacent paths, one of which leads A to its goal, are computed. These paths are collision-free with the stationary obstacles and respect A's kinematic constraints. In the trajectory-planning stage, knowing that A is able to shift from one path to an adjacent one freely, the motion of A along and between these paths is determined so as to avoid any collision with the moving obstacles while respecting A's dynamic constraints |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1109/ROBOT.1993.292121 | Atlanta, GA |
Keywords | Field | DocType |
mobile robots,path planning,adjacent paths,bounded acceleration,bounded velocity,car-like robot,collision avoidance,collision-free paths,dynamic constraints,dynamic trajectory planning,kinematic constraints,path-velocity decomposition,paths-planning | Motion planning,Any-angle path planning,Kinematics,Workspace,Control theory,Collision,Acceleration,Mobile robot,Mathematics,Bounded function | Conference |
Citations | PageRank | References |
23 | 3.91 | 8 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Thierry Fraichard | 1 | 866 | 70.04 |
| christian laugier | 2 | 99 | 47.08 |