NDLI: Obstacle avoiding real-time trajectory generation and control of omnidirectional vehicles

Content Provider	IEEE Xplore Digital Library
Author	Ji-wung Choi Curry, R.E. Elkaim, G.H.
Copyright Year	2009
Description	Author affiliation: Computer Engineering Department at the University of California, Santa Cruz, 95064, USA (Ji-wung Choi; Curry, R.E.; Elkaim, G.H.)
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 meet obstacle avoidance criteria. Then the algorithm solves the problem of motion planning for the robot to track the path in a short travel time while satisfying dynamic constraints and robustness to noise. Accelerations of the robot are computed 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 constraints and smooth motion control compared to previous research.
Starting Page	5510
Ending Page	5515
File Size	810002
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160683
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Vehicle dynamics Mobile robots Motion planning Acceleration Numerical simulation Robot vision systems Humans Vehicle driving Navigation Intelligent sensors
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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