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An optimal control strategy for collision avoidance of mobile robots in non-stationary environments
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Saridis, G. N. Kyriakopoulos, K. J. |
| Copyright Year | 1991 |
| Description | 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 off-line 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. |
| File Size | 659115 |
| Page Count | 17 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19930010156 |
| Archival Resource Key | ark:/13960/t12p01m1j |
| Language | English |
| Publisher Date | 1991-02-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Task Planning Robotics Robot Control Obstacle Avoidance Robot Sensors Optimal Control Trajectories Computerized Simulation Robot Dynamics Collision Avoidance Optimization Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
