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

Motoji Yamamoto, Makoto Iwamura, Akira Mohri

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

12 引用 (Scopus)

抜粋

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
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
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 199810 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)
Victoria, Can
期間10/13/9810/17/98

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • これを引用

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