NDLI: Trajectory optimization in both static and dynamic environments

Content Provider	IEEE Xplore Digital Library
Author	Belkhous, S. Azzouz, A. Nerguizian, C. Saad, M. Nerguizian, V.
Copyright Year	2004
Description	Author affiliation: Ecole Polytech. de Montreal, Que., Canada (Belkhous, S.; Azzouz, A.; Nerguizian, C.)
Abstract	This paper proposes a new approach to optimize the path of a mobile traveling through environments containing both static and dynamic obstacles. It aims to accurately represent the known environment in order to give the mobile robot all the required information needed to move through the plan without striking any obstacles. When the workspace modeling is too complex, the algorithm will more likely need too much time to treat the modeling data (data used to model the environment in the program) and consequently slow the execution of the robot's tasks. The particularity of the method is in the representation of the static environment in a judicious way facilitating the path planning and reducing the processing time. Moreover, when an unexpected obstacle blocks the robot trajectory, the method uses the robot sensors to detect the obstacle, finds a best way to circumvent it and then resumes its path toward the desired destination. Experimental results showed the effectiveness of the proposed approach.
Starting Page	1538
Ending Page	1540
File Size	544177
Page Count	3
File Format	PDF
ISBN	0780386620
DOI	10.1109/ICIT.2004.1490794
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-08
Publisher Place	Tunisia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Mobile robots Path planning Resumes Trajectory Sonar detection Costs Energy consumption Dynamic programming Optimal control
Content Type	Text
Resource Type	Article

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