NDLI: Control of behavior dynamics for motion planning of mobile robots in uncertain environments

Content Provider	IEEE Xplore Digital Library
Author	Xing-Jian Jing Yue-Chao Wang
Copyright Year	2005
Description	Author affiliation: Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang, China (Xing-Jian Jing; Yue-Chao Wang)
Abstract	This paper provides a new approach to the dynamic motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics from an optimal control point of view. The fundamental behavior of a mobile robot in motion planning is regarded as a dynamic process of the interaction between the robot and its local environment, and then it is modeled and controlled for the motion planning purpose. Based on the optimal control of the behavior dynamics, the dynamic motion-planning problem can be transformed into a conventional optimization problem in the robot's acceleration space, and the optimal motion behavior of the mobile robot can be obtained on line. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. Stability of the whole planning-and-control system can be guaranteed. Simulations illustrate our results.
Sponsorship	IEEE Ind. Electron. Soc. (IES) Chinese Inst. of Autom. Eng. (CIAE) Nat. Sci. Council, Taiwan, R.O.C. Minist. of Educ., Taiwan, R.O.C
Starting Page	364
Ending Page	369
File Size	1190474
Page Count	6
File Format	PDF
ISBN	0780389980
DOI	10.1109/ICMECH.2005.1529284
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-10
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Motion planning Mobile robots Optimal control Process planning Orbital robotics Motion-planning Acceleration Shape Collision avoidance
Content Type	Text
Resource Type	Article

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