Abstract
This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot. The behavior dynamics of a dynamic collision-avoidance process was modeled, and then the motion-planning problem was transformed into a simple optimization problem with some inequality constraints based on control of the behavior dynamics. The decision-making space of this optimization problem is right the acceleration space of the mobile robot. By solving this optimization problem, the optimal behavior of the mobile robot to avoid obstacles and go to the desired target can be obtained easily. Simulations are given to illustrate the main ideas.
| Original language | English |
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| Title of host publication | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Pages | 1624-1629 |
| Number of pages | 6 |
| Volume | 2 |
| Publication status | Published - 1 Dec 2004 |
| Externally published | Yes |
| Event | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan Duration: 28 Sept 2004 → 2 Oct 2004 |
Conference
| Conference | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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| Country/Territory | Japan |
| City | Sendai |
| Period | 28/09/04 → 2/10/04 |
Keywords
- Behavior dynamics
- Collision avoidance
- Mobile robots
- Motion planning
- Uncertain dynamic environment
ASJC Scopus subject areas
- General Engineering