Optimized trajectory planning for mobile robot in the presence of moving obstacles

Chun Hsu Ko, Kuu-Young Young, Yi Hung Hsieh

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

8 Scopus citations

Abstract

Navigation and obstacle avoidance are essential for mobile robots. In the dynamic environment, the obstacles may move with varying velocities. It is thus crucial to develop an effective scheme for moving obstacle avoidance. Motivated by this, in this paper, we propose such a scheme based on parametric trajectory planning. With the conditions for collision avoidance formulated as the constraints, a feasible collision-free trajectory is then derived by solving an unconstrained optimization problem. The corresponding control torques for robot governing is calculated using the dynamic model and derived trajectory, with the information about the obstacle not known a priori. Simulations are performed to demonstrate the efficiency of the proposed approach.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages70-75
Number of pages6
ISBN (Electronic)9781479936335
DOIs
StatePublished - 9 Apr 2015
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 6 Mar 20158 Mar 2015

Publication series

NameProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015

Conference

Conference2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period6/03/158/03/15

Keywords

  • mobile robots
  • obstacle avoidance
  • optimization
  • trajectory planning

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  • Cite this

    Ko, C. H., Young, K-Y., & Hsieh, Y. H. (2015). Optimized trajectory planning for mobile robot in the presence of moving obstacles. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 70-75). [7083950] (Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7083950