Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance

Ioannis Arvanitakis, Antonios Tzes

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

Abstract

In this article, the artificial potential field is computed for the obstacle avoidance problem of a mobile robot, using harmonic-functions. Given the maximum linear attainable velocity of the robot, equidistant points on the robot's resulting path are selected. A third-order Bézier-curve is used for time and space parameterization of each segment of the path between neighbouring points. This curve is optimized so as the robot to be capable of moving along these segments given the maximum constraints on its linear and angular velocity. A simple non-linear feedback controller is used for tracking control of the trajectory. Simulation studies indicate the efficiency of the proposed method in optimizing the robot's trajectory.

Original languageEnglish (US)
Title of host publication2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
Pages128-133
Number of pages6
DOIs
StatePublished - Oct 5 2012
Event2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain
Duration: Jul 3 2012Jul 6 2012

Other

Other2012 20th Mediterranean Conference on Control and Automation, MED 2012
CountrySpain
CityBarcelona
Period7/3/127/6/12

Fingerprint

Collision avoidance
Trajectories
Robots
Harmonic functions
Angular velocity
Parameterization
Mobile robots
Feedback
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Arvanitakis, I., & Tzes, A. (2012). Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings (pp. 128-133). [6265626] https://doi.org/10.1109/MED.2012.6265626

Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. / Arvanitakis, Ioannis; Tzes, Antonios.

2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 128-133 6265626.

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

Arvanitakis, I & Tzes, A 2012, Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. in 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings., 6265626, pp. 128-133, 2012 20th Mediterranean Conference on Control and Automation, MED 2012, Barcelona, Spain, 7/3/12. https://doi.org/10.1109/MED.2012.6265626
Arvanitakis I, Tzes A. Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 128-133. 6265626 https://doi.org/10.1109/MED.2012.6265626
Arvanitakis, Ioannis ; Tzes, Antonios. / Trajectory optimization satisfying the robot's kinodynamic constraints for obstacle avoidance. 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. pp. 128-133
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