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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