A New Strategy in Dynamic Time—dependent Motion Planning for Nonholonomic Mobile Robots

摘要：

This paper presents an extension of motion planning in consideration of travel time and velocity during the trajectory generation．In this study，cubic and quintic polynomials were adopted to obtain a smooth trajectory for a single nonholonomic mobile robot．In addition，a new strategy in generation of the trajectory has been introduced，which consists of offline and online planning．Offline planning is executed at the early stage of planning，in order to plan a trajectory within the known static obstacles in the presented environment．Whilst,online planning deals with the unknown static obstacles during the mobile robot navigates in the environment and to catch—up the time lOSS．due to avoiding the obstacles，in order to reach the final point at the specified time．The presented simulation results demonstrate the effectiveness of this new strategy in motion planning for the mobile robot．

关键词： Mobile robot motion planning trajectory generation geometry approach．

作者: Sani Hashim Tien-Fu Lu

作者单位: School of Mechanical Engineering,The University of Adelaide,Adelaide 5005,South Australia,Australia

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1692-1697

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）