Please use this identifier to cite or link to this item: https://doi.org/10.1109/TSMCB.2007.906577
Title: Hierarchical incremental path planning and situation-dependent optimized dynamic motion planning considering accelerations
Authors: Lai, X.-C.
Ge, S.S. 
Mamun, A.A. 
Keywords: Collision avoidance
Forward kinematics
Incremental path planning
Kinematics
Mobile robots
Optimization
Robot dynamics
Velocity space
Issue Date: Dec-2007
Source: Lai, X.-C., Ge, S.S., Mamun, A.A. (2007-12). Hierarchical incremental path planning and situation-dependent optimized dynamic motion planning considering accelerations. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 37 (6) : 1541-1554. ScholarBank@NUS Repository. https://doi.org/10.1109/TSMCB.2007.906577
Abstract: This paper studies a hierarchical approach for incrementally driving a nonholonomic mobile robot to its destination in unknown environments. The A* algorithm is modified to handle a map containing unknown information. Based on it, optimal (discrete) paths are incrementally generated with a periodically updated map. Next, accelerations in varying velocities are taken into account in predicting the robot pose and the robot trajectory resulting from a motion command. Obstacle constraints are transformed to suitable velocity limits so that the robot can move as fast as possible while avoiding collisions when needed. Then, to trace the discrete path, the system searches for a waypoint-directed optimized motion in a reduced 1-D translation or rotation velocity space. Various situations of navigation are dealt with by using different strategies rather than a single objective function. Extensive simulations and experiments verified the efficacy of the proposed approach. © 2007 IEEE.
Source Title: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
URI: http://scholarbank.nus.edu.sg/handle/10635/56180
ISSN: 10834419
DOI: 10.1109/TSMCB.2007.906577
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