Collision avoidance of mobile robots in non-stationary environments

A control strategy for real-time collision avoidance of a mobile robot in an environment containing moving obstacles is proposed. Objects, including the robot, are modelled as convex polyhedra. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A...

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Bibliographic Details
Published inProceedings. 1991 IEEE International Conference on Robotics and Automation pp. 904 - 909 vol.1
Main Authors Kyriakopoulos, K.J., Saridis, G.N.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1991
Subjects
Collision avoidance
Control systems
Intelligent robots
Intelligent systems
Mobile robots
NASA
Orbital robotics
Shape
Space exploration
Trajectory
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Summary:A control strategy for real-time collision avoidance of a mobile robot in an environment containing moving obstacles is proposed. Objects, including the robot, are modelled as convex polyhedra. 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. Consistency with the nominal plan is desirable. The process is formulated as an optimization problem and a close to optimal solution is obtained.< >
ISBN:081862163X
9780818621635
DOI:10.1109/ROBOT.1991.131703