### 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 language | English |
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Title of host publication | IECON Proceedings (Industrial Electronics Conference) |

Editors | Anon |

Publisher | IEEE |

Pages | 1572-1576 |

Number of pages | 5 |

Volume | 3 |

Publication status | Published - 1996 |

Event | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan Duration: Aug 5 1996 → Aug 10 1996 |

### Other

Other | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) |
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City | Taipei, Taiwan |

Period | 8/5/96 → 8/10/96 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Electrical and Electronic Engineering

### Cite this

*IECON Proceedings (Industrial Electronics Conference)*(Vol. 3, pp. 1572-1576). IEEE.

**Collision free trajectory planning for multiple mobile robots environment with periodic motion obstacle.** / Mohri, Akira; Yamamoto, Motoji; Fukuda, Shinsuke.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*IECON Proceedings (Industrial Electronics Conference).*vol. 3, IEEE, pp. 1572-1576, Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, 8/5/96.

}

TY - GEN

T1 - Collision free trajectory planning for multiple mobile robots environment with periodic motion obstacle

AU - Mohri, Akira

AU - Yamamoto, Motoji

AU - Fukuda, Shinsuke

PY - 1996

Y1 - 1996

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0030396194&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030396194&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0030396194

VL - 3

SP - 1572

EP - 1576

BT - IECON Proceedings (Industrial Electronics Conference)

A2 - Anon, null

PB - IEEE

ER -