Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles

Motoji Yamamoto, Makoto Iwamura, Akira Mohri

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

10 Citations (Scopus)

Abstract

This paper addresses a problem of time-optimal motion planning of skid-steer mobile robots amidst obstacles. Due to nonholonomic constraints, actuator constraints, and state constraints by obstacle avoidance, the planning problem is a complicated one. In this study, the problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) search for the optimal path, to alleviate the difficulties of the original problem. Then two methods to solve the problems are proposed, using an idea of path parameter and parametrization by B-spline function. Finally, quasi-optimal solutions for the original problem are obtained by combining the two algorithms. A simulation result shows an effectiveness of the proposed motion planner.

Original languageEnglish
Title of host publicationInnovations in Theory, Practice and Applications
Editors Anon
PublisherIEEE
Pages32-37
Number of pages6
Volume1
Publication statusPublished - 1998
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: Oct 13 1998Oct 17 1998

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period10/13/9810/17/98

Fingerprint

Collision avoidance
Motion planning
Splines
Mobile robots
Actuators
Trajectories
Planning

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Yamamoto, M., Iwamura, M., & Mohri, A. (1998). Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles. In Anon (Ed.), Innovations in Theory, Practice and Applications (Vol. 1, pp. 32-37). IEEE.

Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles. / Yamamoto, Motoji; Iwamura, Makoto; Mohri, Akira.

Innovations in Theory, Practice and Applications. ed. / Anon. Vol. 1 IEEE, 1998. p. 32-37.

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

Yamamoto, M, Iwamura, M & Mohri, A 1998, Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles. in Anon (ed.), Innovations in Theory, Practice and Applications. vol. 1, IEEE, pp. 32-37, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, 10/13/98.
Yamamoto M, Iwamura M, Mohri A. Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles. In Anon, editor, Innovations in Theory, Practice and Applications. Vol. 1. IEEE. 1998. p. 32-37
Yamamoto, Motoji ; Iwamura, Makoto ; Mohri, Akira. / Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles. Innovations in Theory, Practice and Applications. editor / Anon. Vol. 1 IEEE, 1998. pp. 32-37
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