Obstacle avoiding real-time trajectory generation and control of omnidirectional vehicles

Abstract

Abstract-In this paper, a computationally effective trajectory generation algorithm of omnidirectional mobile robots is proposed. The algorithm plans a reference path based on Bézier curves, which meets obstacle avoidance. Then the algorithm solves the problem of motion planning for the robot to track the path in short travel time while satisfying dynamic constraints and robustness to noise. Accelerations of the robot are computed and refined such that they satisfy the time optimal condition for each sample time interval. The numerical simulation demonstrates the improvement of trajectory generation in terms of travel time, satisfaction of dynamic constraint and smooth motion control compared to a previous research.

Path tracking with obstacle avoidance for pseudo-omnidirectional mobile robots using convex optimization

“…The justification for this paper is that although trajectory generation and collision avoidance for mobile robots have been studied before, see [14], [16], [17], [18] for a few examples, to the authors' knowledge no approach to path tracking for mobile robots based on convex optimization has been reported. In addition, some of the previously proposed methods are only based on the kinematic relations of the robot, and do not consider a nonlinear dynamic model incorporating such properties as friction.…”

Model Predictive Obstacle Avoidance and Wheel Allocation Control of Mobile Robots Using Embedded CPU

“…Obstacle avoidance control methods for mobile robots have been studied widely. For example, the artificial potential field method (5) , the global dynamics window approach (6) , the trajectory generation algorithm using a Voronoi's diagram and a Bézier curve (7) and nonlinear model predictive control method (8) have been reported. Additionally, the obstacle avoidance control method considering the robot's shape has been proposed such as in Ref.…”

Collision-free curvature-bounded smooth path planning using composite Bezier curve based on Voronoi diagram

“…Many techniques have been researched to utilize multiple path schemes for different applications [1], [2], [3], [4], [5], [7], [9], [10], [12]. These applicaions have been dealt within two strategies: one strategy is to use a pre-known global environment information and robot characteristics, while another builds up local environment with sensor information and using robot characteristics.…”

“…The smooth path is constructed by connecting pieces of the primitive curves. [3], [4] construct the path by connecting the way points with splines, and the work in [2], [7], [9] construct the path by Bezier curves. In [4], the authors propose a path planning algorithm with path length by spline, but the method has large time complexity.…”

“…[2] uses a set of reference points u882524@alumni.nthu.edu.tw, liu@iis.sinica.edu.tw as control points for one Bezier curves instead of using the reference points as way points. We notice that for a set of reference points, to connect them by taking each point as a way point causes longer path length with comparing to connect them by taking each point as a control point of Bezier curves.…”