On-line Planning for Collision Avoidance on the Nominal Path
On-line Planning for Collision Avoidance on the Nominal Path
复制标题
名义路径上的在线避碰规划
DOI：
10.1023/a:1007919920684
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发表时间：
1998
影响因子：
3.3
通讯作者：
C. Kambhampati
中科院分区：
文献类型：
--
作者：
A. Tsoularis;C. Kambhampati
本文提出了一种移动的机器人在二维笛卡尔平面内运动的避障问题的解法。机器人被建模为一个有限大小的线性时不变的动力学系统封闭的一个圆圈和障碍物被建模为沿沿着直线轨迹行驶的圆圈。本文研究了障碍物沿已知轨迹运动时的避障问题。机器人以标称速度在标称直线路径上开始其行程。当障碍物被检测到与机器人碰撞时，机器人必须设计一个计划来避免障碍物，同时使成本指数最小化，该成本指数被定义为其速度与标称速度的偏差的大小的总和的平方。这里采用的规划策略是调整机器人的速度在标称路径上的机器人和移动障碍物之间的碰撞的时间的基础上，并确定所需的最终状态，使其从标称最终状态的欧几里得距离是最小的。避障偏离标称路径在确定性和随机环境中的基础上提出的工作，并在另一篇论文中进行了研究。
In this paper a solution to the obstacle avoidance problem for a mobile robot moving in the two-dimensional Cartesian plane is presented. The robot is modelled as a linear time-invariant dynamic system of finite size enclosed by a circle and the obstacles are modelled as circles travelling along rectilinear trajectories. This work deals with the avoidance problem when the obstacles move in known trajectories. The robot starts its journey on a nominal straight line path with a nominal velocity. When an obstacle is detected to be on a collision course with the robot, the robot must devise a plan to avoid the obstacle whilst minimising a cost index defined as the total sum squared of the magnitudes of the deviations of its velocity from the nominal velocity. The planning strategy adopted here is adjustment of the robot's velocity on the nominal path based on the time of collision between the robot and a moving obstacle, and determination of a desired final state such that its Euclidean distance from the nominal final state is minimal. Obstacle avoidance by deviation from the nominal path in deterministic and random environments is based on the work presented here and is investigated in another paper.