Title :
A methodology for replanning collision free trajectories for a mobile robot
Author :
de Matos, A.C. ; Cunha, Sérgio Reis ; Pereira, Fernando Lobo
Author_Institution :
Fac. de Engenharia, Porto Univ., Portugal
Abstract :
A methodology for planning optimized collision free trajectories for a mobile robot is presented. This methodology consists in making necessary modifications to a precomputed trajectory in order to avoid collisions with fixed or moving obstacles not previously considered or detected. The methodology is intended to be used on an online trajectory replanner of a mobile robot and is particularly suited for robots operating in semi-structured environments. The optimization has to do with finding the best trade-off between the best path to accomplish the proposed goals and the flexibility necessary to safely avoid unpredicted obstacles
Keywords :
mobile robots; optimisation; path planning; collision avoidance; collision-free trajectories replanning; mobile robot; obstacle avoidance; online trajectory replanner; precomputed trajectory modification; semi-structured environments; Mobile robots; Motion planning; Optimization methods; Performance analysis; Trajectory;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339283
