A new strategy in dynamic time-dependent motion planning for nonholonomic mobile robots
Date
2009
Authors
Mohamad Hashim, M.
Lu, T.
Editors
Advisors
Journal Title
Journal ISSN
Volume Title
Type:
Conference paper
Citation
Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, Guilin, China December 19 -23, 2009: pp.1692-1697
Statement of Responsibility
Sani Hashim and Tien-Fu Lu
Conference Name
ROBIO 2009 (2009 : Guilin, China)
Abstract
This paper presents an extension of motion planning in consideration of travel time and velocity during the trajectory generation. In this study, cubic and quintic polynomials were adopted to obtain a smooth trajectory for a single nonholonomic mobile robot. In addition, a new strategy in generation of the trajectory has been introduced, which consists of offline and online planning. Offline planning is executed at the early stage of planning, in order to plan a trajectory within the known static obstacles in the presented environment. Whilst, online planning deals with the unknown static obstacles during the mobile robot navigates in the environment and to catch-up the time loss, due to avoiding the obstacles, in order to reach the final point at the specified time. The presented simulation results demonstrate the effectiveness of this new strategy in motion planning for the mobile robot.