Quasi-time-optimal motion planning of mobile platforms in the presence of obstacles

Motoji Yamamoto, Makoto Iwamura, Akira Mohri

Research output: Contribution to journalConference articlepeer-review

40 Citations (Scopus)


This paper addresses a problem of optimal motion planning of mobile platforms amidst obstacles considering mobile platform's dynamics. Due to nonholonomic constraints, actuator constraints, and state constraints by obstacle avoidance, the planning problem of mobile platform with two independently driven wheels is a complicated one. In this study, a dynamical model for the mobile platform is presented including nonholonomic kinematic constraints. An idea of a path parameter is introduced to simplify the planning problem considering dynamics and nonholonomic constraints. Using the path parameter, the optimal motion planning problem is divided into two sub-problems, i.e., (1) time-optimization of trajectory along specified path, (2) search for optimal path. Then two methods to solve each problem are proposed, using an idea of path parameter and parametrization by B-spline function. Finally, quasi-time-optimal solution for the original problem are planned by combining the two methods. Numerical examples show effectiveness of the motion planner.

Original languageEnglish
Pages (from-to)2958-2963
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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