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ICRA
2008
IEEE

Optimal trajectory generation for nonholonomic robots in dynamic environments

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Optimal trajectory generation for nonholonomic robots in dynamic environments
Abstract— We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic. An optimal performance index is set up so that the parameterized trajectory stays close to the shortest straight-line path. Combining with the collision avoidance criterion, optimal collision-free trajectory can be generated real time as the solution is expressed in its closed-form. We show Matlab simulation results to demonstrate the performance of the trajectories.
Yi Guo, Tang Tang
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Yi Guo, Tang Tang
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