Collision free trajectory planning for multiple mobile robots environment with periodic motion obstacle

Akira Mohri, Motoji Yamamoto, Shinsuke Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, we study collision free trajectory planning problem of multiple mobile robots in the environment with the periodic motion obstacle. We formulate this problem as an optimal control problem. We find the solution using the penalty function method and the conjugate gradient algorithm. The numerical examples show that the penalty function method is useful for the problem with moving obstacles in some cases. It is interesting to notice that considerably different trajectories are obtained according to the period of the motion of the moving obstacle, even though formulation is the usual simple optimal control one.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE
Pages1572-1576
Number of pages5
Volume3
Publication statusPublished - 1996
EventProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan
Duration: Aug 5 1996Aug 10 1996

Other

OtherProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
CityTaipei, Taiwan
Period8/5/968/10/96

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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