### 抄録

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.

元の言語 | 英語 |
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ホスト出版物のタイトル | Innovations in Theory, Practice and Applications |

編集者 | Anon |

出版者 | IEEE |

ページ | 32-37 |

ページ数 | 6 |

巻 | 1 |

出版物ステータス | 出版済み - 1998 |

イベント | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can 継続期間: 10 13 1998 → 10 17 1998 |

### その他

その他 | Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) |
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市 | Victoria, Can |

期間 | 10/13/98 → 10/17/98 |

### Fingerprint

### All Science Journal Classification (ASJC) codes

- Control and Systems Engineering

### これを引用

*Innovations in Theory, Practice and Applications*(巻 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.

研究成果: 著書/レポートタイプへの貢献 › 会議での発言

*Innovations in Theory, Practice and Applications.*巻. 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.

}

TY - GEN

T1 - Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles

AU - Yamamoto, Motoji

AU - Iwamura, Makoto

AU - Mohri, Akira

PY - 1998

Y1 - 1998

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0032315976&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0032315976&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0032315976

VL - 1

SP - 32

EP - 37

BT - Innovations in Theory, Practice and Applications

A2 - Anon, null

PB - IEEE

ER -