二輪独立駆動型移動ロボットの障害物回避準最短時間軌道計画

概要

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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.
一般社団法人日本機械学会の論文
1998-08-25