High speed on-line motion planning in cluttered environments

Zvi Shiller, Sanjeev Sharma

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

This paper presents an efficient algorithm for online obstacle avoidance that accounts for robot dynamics and actuator constraints. The robot trajectory (path and speed) is generated on-line by avoiding obstacles optimally one at a time. This reduces the original problem from one with m obstacles to m simpler problems with one obstacle each, thus resulting in a planner that is linear, instead of exponential, in the number of obstacles. While this approach is quite general and applicable to any cost function and to any robot dynamics, it is treated here for minimum time motions, a point mass robot, and planar circular obstacles.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages596-601
Number of pages6
DOIs
StatePublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 7 Oct 201212 Oct 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period7/10/1212/10/12

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