NDLI: Time optimal navigation via slack time sets

Content Provider	IEEE Xplore Digital Library
Author	Zaharakis, S.C. Guez, A.
Copyright Year	1988
Description	Author affiliation: Dept. of Electr. Eng., Drexel Univ., Philadelphia, PA, USA (Zaharakis, S.C.; Guez, A.)
Abstract	An algorithm for determining the minimum-time obstacle avoidance trajectory for a robot is presented. Since different joints, when moved independently, may reach their desired end values at different times, any delay of a joint, other than the slowest, will not affect the total time of motion. This natural redundancy is used with obstacle avoidance to simplify any path search algorithm by at least one order of magnitude (one degree of freedom less). By neglecting the presence of all obstacles and assigning to each actuator maximum control torque (bang-bang), a lower-bound estimate of the time T/sub task/ needed to complete a task is calculated. The A/sup */ heuristic search is used to search the subset of the state space which contains only those states which are members of a trajectory with a task time equal to T/sub task/. If no trajectory is found during the initial search, the subset of the state space being examined is sequentially increased until a valid trajectory is found. Since, in general, the minimum-time obstacle avoidance trajectory is not unique, secondary constraints such as minimum distance in the state space and others can also be satisfied.
Starting Page	650
Ending Page	651
File Size	213074
Page Count	2
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12132
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation State-space methods Delay effects Actuators Torque control Vehicle dynamics Remotely operated vehicles Mobile robots Acceleration Shape
Content Type	Text
Resource Type	Article

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