Extremal smooth trajectory planning of a mobile robot

Serkan Aydin; Hakan Temeltaş

doi:10.1117/12.457452

Extremal smooth trajectory planning of a mobile robot

Serkan Aydin^*, Hakan Temeltaş

^*Corresponding author for this work

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Contribution to journal › Conference article › peer-review

2 Citations (Scopus)

Abstract

This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dynamic configuration spaces, because of simplicity and low computational time.

Original language	English
Pages (from-to)	207-218
Number of pages	12
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	4573
DOIs	https://doi.org/10.1117/12.457452
Publication status	Published - 2001
Event	Mobile Robots XVI - Newton, MA, United States Duration: 29 Oct 2001 → 30 Oct 2001

Keywords

Mobile robot
Obstacle avoidance
Path planning
Time-optimal path
Visibility graph method

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10.1117/12.457452

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AB - This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dynamic configuration spaces, because of simplicity and low computational time.

KW - Mobile robot

KW - Obstacle avoidance

KW - Path planning

KW - Time-optimal path

KW - Visibility graph method

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JF - Proceedings of SPIE - The International Society for Optical Engineering

T2 - Mobile Robots XVI

Y2 - 29 October 2001 through 30 October 2001

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Extremal smooth trajectory planning of a mobile robot

Abstract

Keywords

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