Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments

Abstract

Abstract. An optimal control formulation of the problem of collision avoidance of mobile robots moving in terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory… (More)
DOI: 10.1007/BF01254013

Topics

19 Figures and Tables

Cite this paper

@article{Kyriakopoulos1994OptimalAS, title={Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments}, author={Kostas J. Kyriakopoulos and George N. Saridis}, journal={Journal of Intelligent and Robotic Systems}, year={1994}, volume={11}, pages={223-267} }