Real-Time Trajectory Generation for Mobile Robots

Sahraei, Alireza; Manzuri, Mohammad Taghi; Razvan, M. R.; Tajfard, Masoud; Khoshbakht, Saman

doi:10.1007/978-3-540-74782-6_40

Cited by 14 publications

(17 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on the authority of these cameras, a reference command for the proposed controller of the robot is planned. This paper especially focuses on two papers: Kalmar-Nagy [2] and Sahraei [1]. Kalmar-Nagy [2] has proposed minimum time trajectory generation algorithm for omnidirectional vehicles, that meets dynamic constraints, but no obstacles are considered.…”

Section: Introductionmentioning

confidence: 99%

“…Kalmar-Nagy [2] has proposed minimum time trajectory generation algorithm for omnidirectional vehicles, that meets dynamic constraints, but no obstacles are considered. Sahraei [1] has presented a motion planning algorithm for omnidirectional vehicles, based on the result of [2]. The paper has claimed that the algorithm satisfies obstacle avoidance as well as time optimality given in discrete time system.…”

Section: Introductionmentioning

confidence: 99%

“…Section III describes dynamic constraints of the robots based on the result of [2]. Section IV presents the reference path generation algorithm of [1] with minor modification. Then the new motion planning algorithm is proposed in Section V. Finally, a numerical simulation is presented in Section VI.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Collision free real-time motion planning for omnidirectional vehicles

Choi

Curry

Elkaim

2009

2009 European Control Conference (ECC)

View full text Add to dashboard Cite

Abstract-In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves, which meets obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in short travel time while satisfying dynamic constraints and robustness to noise. Accelerations of the robot are computed and refined such that they satisfy the time optimal condition for each sample time interval. The numerical simulation demonstrates the improvement of trajectory generation in terms of travel time, satisfaction of dynamic constraint and smooth motion control compared to a previous research.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Collision free real-time motion planning for omnidirectional vehicles

Choi

Curry

Elkaim

2009

2009 European Control Conference (ECC)

View full text Add to dashboard Cite

show abstract

“…Most of the existing approaches determine just the shape of the planned trajectory by search or optimization, but rely on local heuristics to set the translational velocities [12], [14], [15], [18], [19]. However, in order to determine truly time-optimal trajectories, the admissible velocities governed by constraints on velocities and accelerations have to be considered.…”

Section: Related Workmentioning

confidence: 99%

“…As input, a trajectory representation is desired that continuously defines position, velocities, and accelerations over time. To this end, some authors have used cubic Bézier splines [11], [12]. Howard and Kelly proposed spline interpolation of velocity commands to generate such trajectories [13].…”

Section: Related Workmentioning

confidence: 99%

Kinodynamic motion planning for mobile robots using splines

Lau

Sprunk

Burgard

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

126

View full text Add to dashboard Cite

Abstract-This paper presents an approach to time-optimal kinodynamic motion planning for a mobile robot. A global path planner is used to generate collision-free straight-line paths from the robot's position to a given goal location. With waypoints of this path, an initial trajectory is generated which defines the planned position of the robot over time. A velocity profile is computed that accounts for constraints on the velocity and acceleration of the robot. The trajectory is refined to minimize the time needed for traversal by an any-time optimization algorithm. An error-feedback controller generates motor commands to execute the planned trajectory. Quintic Bézier splines are used to allow for curvature-continuous joins of trajectory segments, which enables the system to replan trajectories in order to react to unmapped obstacles. Experiments on real robots are presented that show our system's capabilities of smooth, precise, and predictive motion. I. INTRODUCTIONMotion planning is a fundamental task for wheeled mobile robots. It consists of planning a path from the robot's position to a given goal location using a representation of the environment, and computing motion commands that make the robot platform follow this path [1]. Most traditional motion planning systems use a global path planner like A* or its descendants, e.g., [2], [3], [4], which find the shortest path on a 2D grid or graph that represents the traversable space. These paths typically contain sharp corners and can only be accurately followed by stopping and turning on the spot, which significantly increases the time of travel.The generation of actual motor commands is therefore often carried out by reactive systems [5], [6], [7]. These consider the vector to the next one or two waypoints in the planned path and the distance to obstacles perceived by the robot's sensors. The Dynamic Window [8] additionally considers the platform's kinodynamic constraints. All of these approaches have in common that the robot deliberately deviates from the planned path to drive smooth curves, which leads to faster progress towards the goal location.The downside of this solution is, that (a) optimality properties of the straight line path do not apply to the resulting continuous trajectory and no time of travel optimality is achieved, (b) the shape of the path, e.g., how much corners are cut, depends on parameter settings rather than optimization or search, (c) velocities and accelerations are not planned in advance but subject to reactive behavior, which prevents accurate motion prediction and makes satisfaction of hard constraints difficult, and (d) no guarantees can be made for the control stability or convergence behavior of the system.

show abstract

Landmark-Based Representations for Navigating Holonomic Soccer Robots

Beck

Ferrein

Lakemeyer

2009

RoboCup 2008: Robot Soccer World Cup XII

View full text Add to dashboard Cite

For navigating mobile robots the central problems of path planning and collision avoidance have to be solved. In this paper we propose a method to solve the (local) path planning problem in a reactive fashion given a landmark-based representation of the environment. The perceived obstacles define a point set for a Delaunay tessellation based on which a traversal graph containing possible paths to the target position is constructed. By applying A * we find a short and safe path through the obstacles. Although the traversal graph is recomputed in every iteration in order to achieve a high degree of reactivity the method guarantees stable paths in a static environment; oscillating behavior known from other local methods is precluded. This method has been successfully implemented on our Middle-size robots.

show abstract

Real-Time Trajectory Generation for Mobile Robots

Cited by 14 publications

References 12 publications

Collision free real-time motion planning for omnidirectional vehicles

Collision free real-time motion planning for omnidirectional vehicles

Kinodynamic motion planning for mobile robots using splines

Landmark-Based Representations for Navigating Holonomic Soccer Robots

Contact Info

Product

Resources

About