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Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization

In English

Författare

Redaktör

  • Astolfi Alessandro

Summary, in English

We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach also incorporates avoidance of moving obstacles, which are unknown a priori. Using sensor data, objects along the desired path are detected. Subsequently, a new path is planned and the corresponding time-optimal trajectory is found. The robustness of the method and its sensitivity to model errors are analyzed and discussed with extensive simulation results. Moreover, we verify the approach by successful execution on a physical setup.

Publiceringsår

2014

Språk

Engelska

Sidor

517-524

Publikation/Tidskrift/Serie

[Host publication title missing]

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering

Conference name

American Control Conference, 2014

Conference date

2014-06-04 - 2014-06-06

Conference place

Portland, OR, United States

Status

Published

Projekt

  • ENGROSS
  • SMErobotics
  • RobotLab LTH

Forskningsgrupp

  • ELLIIT
  • LCCC

ISBN/ISSN/Övrigt

  • ISSN: 0743-1619