TY - GEN
T1 - Moving obstacle avoidance for a mobile robot
AU - Park, Junghee
AU - Choi, Jeong S.
AU - Kin, Jimin
AU - Lee, Beom H.
PY - 2009
Y1 - 2009
N2 - This paper presents the near time-optimal motion planning method for moving obstacle avoidance. We decomposed the robot motion into three phases: approach, contact, and detachment phase. The constraints of each phase for a feasible collision-free robot motion were described by three necessary and sufficient conditions and one sufficient condition. We formulated the near time-optimal motion planning as optimization problem with inequality constraints. Simulations present the efficiency of the results by comparing them with two widely used approaches: reactive and path-velocity decomposed approach.
AB - This paper presents the near time-optimal motion planning method for moving obstacle avoidance. We decomposed the robot motion into three phases: approach, contact, and detachment phase. The constraints of each phase for a feasible collision-free robot motion were described by three necessary and sufficient conditions and one sufficient condition. We formulated the near time-optimal motion planning as optimization problem with inequality constraints. Simulations present the efficiency of the results by comparing them with two widely used approaches: reactive and path-velocity decomposed approach.
UR - https://www.scopus.com/pages/publications/77950445054
U2 - 10.1109/ICCA.2009.5410171
DO - 10.1109/ICCA.2009.5410171
M3 - Conference contribution
AN - SCOPUS:77950445054
SN - 9781424447060
T3 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
SP - 367
EP - 372
BT - 2009 IEEE International Conference on Control and Automation, ICCA 2009
T2 - 2009 IEEE International Conference on Control and Automation, ICCA 2009
Y2 - 9 December 2009 through 11 December 2009
ER -