Paper Info
Title
Quasi-time-optimal motion planning of mobile platforms in the presence of obstacles
Abstract
This paper addresses a problem of optimal motion planning of mobile platforms amidst obstacles, considering the mobile platform dynamics. Due to nonholonomic constraints, actuator constraints, and state constraints by obstacle avoidance, the planning problem of mobile platform with two independently driven wheels is a complicated one. In this study, a dynamical model for the mobile platform is presented, including nonholonomic kinematic constraints. The idea of a path parameter is introduced to simplify the planning problem by considering the dynamics and nonholonomic constraints. Using the path parameter, the optimal motion planning problem is divided into two sub-problems: 1) time-optimization of trajectory along specified path, and 2) search for optimal path. Then two methods are proposed the solve the problems using the path parameter and parametrization by B-spline function. Finally, quasi-time-optimal solution for the original problem are planned by combining the two methods. Numerical examples show effectiveness of the motion planner
Year
DOI
Venue
1999
10.1109/ROBOT.1999.774046
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference
Keywords
Field
DocType
manipulator dynamics,manipulator kinematics,mobile robots,optimisation,splines (mathematics),time optimal control,B-spline function,dynamics,mobile platforms,nonholonomic kinematic constraints,obstacle avoidance,optimal motion planning,path parameter,quasi-time-optimal planning,time-optimization
Obstacle avoidance,Motion planning,Mathematical optimization,Kinematics,Control theory,Control engineering,Vehicle dynamics,Nonholonomic system,Trajectory,Mobile robot,Mathematics,Actuator
Conference
Volume
ISSN
ISBN
4
1050-4729
0-7803-5180-0
Citations 
PageRank 
References 
20
1.79
5
Authors
3
Name
Order
Citations
PageRank
Motoji Yamamoto123445.92
Makoto Iwamura211213.64
Akira Mohri314041.98