TY - GEN
T1 - High speed on-line motion planning in cluttered environments
AU - Shiller, Zvi
AU - Sharma, Sanjeev
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872317065&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385475
DO - 10.1109/IROS.2012.6385475
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AN - SCOPUS:84872317065
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 596
EP - 601
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -