Collision Free Quasi-Minimum-Time Trajectory Planning for Skid-Steer Platforms

Motoji Yamamoto; Makoto Iwamura; Akira Mohri

doi:10.1299/kikaic.64.3039

Collision Free Quasi-Minimum-Time Trajectory Planning for Skid-Steer Platforms

Motoji Yamamoto, Makoto Iwamura, Akira Mohri

Control Systems

Research output: Contribution to journal › Article › peer-review

Abstract

This paper addresses a problem of time-optimal trajectory planning for skid-steer platforms considering obstacle avoidance. Considering both time-optimality and obstacle avoidance for mobile robot is not easy, because the two problems are coupled in the trajectory planning problem. Using an idea of path parameter, the trajectory planning problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) optimal path planning considering obstacle avoidance. Then an efficient search method is proposed for each problem, using the idea of path parameter and B-Spline approximation method. The idea of path parameter simplifies the optimization problem for specified path planning problem of mobile robot. Simulation results show the effectiveness of the proposed trajectory planning method.

Original language	English
Pages (from-to)	3039-3046
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	64
Issue number	624
DOIs	https://doi.org/10.1299/kikaic.64.3039
Publication status	Published - 1998

All Science Journal Classification (ASJC) codes

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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title = "Collision Free Quasi-Minimum-Time Trajectory Planning for Skid-Steer Platforms",

abstract = "This paper addresses a problem of time-optimal trajectory planning for skid-steer platforms considering obstacle avoidance. Considering both time-optimality and obstacle avoidance for mobile robot is not easy, because the two problems are coupled in the trajectory planning problem. Using an idea of path parameter, the trajectory planning problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) optimal path planning considering obstacle avoidance. Then an efficient search method is proposed for each problem, using the idea of path parameter and B-Spline approximation method. The idea of path parameter simplifies the optimization problem for specified path planning problem of mobile robot. Simulation results show the effectiveness of the proposed trajectory planning method.",

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AB - This paper addresses a problem of time-optimal trajectory planning for skid-steer platforms considering obstacle avoidance. Considering both time-optimality and obstacle avoidance for mobile robot is not easy, because the two problems are coupled in the trajectory planning problem. Using an idea of path parameter, the trajectory planning problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) optimal path planning considering obstacle avoidance. Then an efficient search method is proposed for each problem, using the idea of path parameter and B-Spline approximation method. The idea of path parameter simplifies the optimization problem for specified path planning problem of mobile robot. Simulation results show the effectiveness of the proposed trajectory planning method.

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Collision Free Quasi-Minimum-Time Trajectory Planning for Skid-Steer Platforms

Abstract

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