NDLI: Application of a coordinated trajectory planning and real-time obstacle avoidance algorithm

Content Provider	IEEE Xplore Digital Library
Author	McNinch, L.C. Soltan, R.A. Muske, K.R. Ashrafiuon, H. Jones, J.C.P.
Copyright Year	2010
Description	Author affiliation: Center for Nonlinear Dynamics & Control, Villanova Univ., Villanova, PA, USA (McNinch, L.C.; Soltan, R.A.; Muske, K.R.; Ashrafiuon, H.; Jones, J.C.P.)
Abstract	A novel method for coordinated trajectory planning and real-time obstacle avoidance of autonomous systems is presented. The desired autonomous system trajectories are generated from a set of first order ODEs. The solution to this system of ODEs converges to either a desired target position or a closed orbit defined by a limit cycle. Coordinated control is achieved by utilizing the nature of limit cycles where independent, non-crossing paths are automatically generated from different initial positions that smoothly converge to the desired closed orbits. Real-time obstacle avoidance is achieved by specifying a transitional elliptically shaped closed orbit around the nearest obstacle blocking the path. This orbit determines an alternate trajectory that avoids the obstacle. When the obstacle no longer blocks a direct path to the original target trajectory, a transitional trajectory that returns to the original path is defined. The coordination and obstacle avoidance methods are demonstrated experimentally using differential-drive wheeled mobile robots.
Starting Page	3824
Ending Page	3829
File Size	1087296
Page Count	6
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5531447
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Limit-cycles Mobile robots Control systems Robot kinematics Equations Nonlinear control systems Real time systems Path planning Autonomous agents
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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