Provably Safe Motions Strategies for Mobile Robots in Dynamic Domains
Provably Safe Motions Strategies for Mobile Robots in Dynamic Domains
复制标题
动态域中移动机器人的可证明安全运动策略
DOI：
10.1007/978-3-540-73422-2_4
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发表时间：
2007
影响因子：
--
通讯作者：
T. Siméon
中科院分区：
文献类型：
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作者：
R. Alami;K. Madhava Krishna;T. Siméon
本文提出了一种计算移动的机器人轨迹规划的最大速度剖面的方法。环境和机器人动力学以及机器人传感器的约束决定了轮廓。规划轮廓指示机器人沿着其路径可以具有的最大速度，而不与可能拦截其未来轨迹的任何移动的物体碰撞。移动的物体的数量可以是任意的，唯一可用的信息是它们的最大可能速度。速度曲线还使得能够使规划的轨迹变形以获得更好的轨迹时间。该方法已被采用的完整和非完整运动规划。在线实时计划，修改和适应的路径以及速度的变化，在环境中，这样的安全性和执行时间不受影响的方法的扩展也提出了完整的情况下。仿真和实验结果表明了该方法的有效性。
We present in this paper a methodology for computing the maximum velocity profile over a trajectory planned for a mobile robot. Environment and robot dynamics as well as the constraints of the robot sensors determine the profile. The planned profile is indicative of maximum speeds that can be possessed by the robot along its path without colliding with any of the mobile objects that could intercept its future trajectory. The mobile objects could be arbitrary in number and the only information available is their maximum possible velocity. The velocity profile also enables to deform planned trajectories for better trajectory time. The methodology has been adopted for holonomic and non-holonomic motion planners. An extension of the approach to an online real-time scheme that modifies and adapts the path as well as velocities to changes in the environment such that both safety and execution time are not compromised is also presented for the holonomic case. Simulation and experimental results illustrate the efficacy of this methodology.