Abstract
In this paper, we present a suboptimal and analytical solution to the trajectory generation of mobile robots operating in a dynamic environment with moving obstacles. The proposed solution explicitly addresses both the robot kinodynamic constraints and the geometric constraints due to obstacles while ensuring the suboptimal performance to a combined performance metric. In particular, the proposed design is based on a family of parameterized trajectories, which provides a unified way to embed the kinodynamic constraints, geometric constraints, and performance index into a set of parameterized constraint equations. To that end, the suboptimal solution to the constrained optimization problem can be analytically obtained. The solvability conditions to the constraint equations are explicitly established, and the proposed solution enhances the methodologies of real-time path planning for mobile robots with kinodynamic constraints. Both the simulation and experiment results verify the effectiveness of the proposed method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.