Moving obstacle avoidance for a mobile robot

Author

Park, Junghee ; Choi, Jeong S. ; Kin, Jimin ; Lee, Beom H.

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Seoul Nat. Univ., Seoul, South Korea

fYear

2009

fDate

9-11 Dec. 2009

Firstpage

367

Lastpage

372

Abstract

This paper presents the near time-optimal motion planning method for moving obstacle avoidance. We decomposed the robot motion into three phases: approach, contact, and detachment phase. The constraints of each phase for a feasible collision-free robot motion were described by three necessary and sufficient conditions and one sufficient condition. We formulated the near time-optimal motion planning as optimization problem with inequality constraints. Simulations present the efficiency of the results by comparing them with two widely used approaches: reactive and path-velocity decomposed approach.

Keywords

collision avoidance; mobile robots; motion control; optimal control; approach phase; collision-free robot motion; contact phase; detachment phase; mobile robot; moving obstacle avoidance; near time-optimal motion planning method; optimization problem; robot motion decomposition; Collision avoidance; Computational complexity; Military computing; Mobile robots; Motion planning; Orbital robotics; Path planning; Robot motion; Robotics and automation; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2009. ICCA 2009. IEEE International Conference on

Conference_Location

Christchurch

Print_ISBN

978-1-4244-4706-0

Electronic_ISBN

978-1-4244-4707-7

Type

conf

DOI

10.1109/ICCA.2009.5410171

Filename

5410171