Hybrid Control of Trajectory Planning for Desired Trajectory and Collision Avoidance Based on Optimization Problem for a Wheeled Mobile Robot

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2020/07/01タイトル(英語): Hybrid Control of Trajectory Planning for Desired Trajectory and Collision Avoidance Based on Optimization Problem for a Wheeled Mobile Robot著者名: Masato Kobayashi (Graduate School of Maritime Science, Kobe University), Naoki Motoi (Graduate School of Maritime Science, Kobe University)著者名(英語): Masato Kobayashi (Graduate School of Maritime Science, Kobe University), Naoki Motoi (Graduate School of Maritime Science, Kobe University)キーワード: motion control，robotics，trajectory tracking，collision avoidance，mobile robot要約(英語): This paper proposes a hybrid control of trajectory planning for a desired trajectory and collision avoidance based on an optimization problem for a wheeled mobile robot. In the proposed method, the priority of trajectory planning for the desired trajectory and collision avoidance is modified using the priority variable α. The priority variable α is designed by solving the optimization problem with constraints. As a constraint condition, the range of the priority variable α where the robot does not collide with multiple obstacles is derived. Under this constraint condition, the priority variable α with the highest priority of trajectory planning for the desired trajectory is selected as the optimal value. As a result, the velocity commands considering trajectory planning for the desired trajectory and collision avoidance are calculated in real time. The effectiveness of the proposed method is confirmed via experimental results.本誌: IEEJ Journal of Industry Applications Vol.9 No.4 （2020）本誌掲載ページ: 331-340 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/9/4/9_331/_article/-char/ja/ Show more