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An optimal control strategy for collision avoidance of mobile robots in nonstationary environments

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2 Author(s)
K. J. Kyraikopoulos ; NASA CIRSSE, Rensselaer Polytech. Inst., Troy, NY, USA ; G. N. Saridis

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from offline planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy

Published in:

Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on

Date of Conference:

13-15 Aug 1991