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Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments

Research paper by K. J. Kyriakopoulos, G. N. Saridis

Indexed on: 01 Oct '94Published on: 01 Oct '94Published in: Journal of Intelligent & Robotic Systems



Abstract

An optimal control formulation of the problem of collision avoidance of mobile robots moving in terrains containingmoving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. Two solutions are obtained: (1) A numerical solution of the optimization problem and a perturbation type of control to update the optimal plan and (2) A computationally efficient method giving near optimal solutions. Simulation results verify the value of the proposed strategies and allow for comparisons.