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

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Author

Editor

  • 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.

Publishing year

2014

Language

English

Pages

517-524

Publication/Series

[Host publication title missing]

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Conference name

American Control Conference, 2014

Conference date

2014-06-04 - 2014-06-06

Conference place

Portland, OR, United States

Status

Published

Project

  • ENGROSS
  • SMErobotics
  • RobotLab LTH

Research group

  • ELLIIT
  • LCCC

ISBN/ISSN/Other

  • ISSN: 0743-1619