A random-profile approach for trajectory planning of wheeled mobile robots

European Journal of Mechanics, A/Solids

Volumn 26, Issue 3, 2007, Pages 519-540

  Haddad, M ^a   Chettibi, T ^a   Hanchi, S ^a   Lehtihet, H E ^a  

^a ECOLE MILITAIRE POLYTECHNIQUE   (Algeria)

Author keywords

Stochastic optimization; Trajectory planning; Wheeled mobile robot

Indexed keywords

CONSTRAINT THEORY; MOTION PLANNING; OPTIMIZATION; PROBLEM SOLVING; SIMULATED ANNEALING;

STOCHASTIC OPTIMIZATION; TRAJECTORY PLANNING; WHEELED MOBILE ROBOT;

MOBILE ROBOTS;

EID: 33847307616     PISSN: 09977538     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.euromechsol.2006.10.001     Document Type: Article

References (49)

1. Alexander J.C., Maddocks J.H., and Michalowski B.A. Shortest distance paths for wheeled mobile robots. IEEE Trans. Robotics and Automation 14 5 (1998) 657-662
2. Aydin, S., Temeltas, H., 2002. A novel approach to smooth trajectory planning of a mobile robot. In: IEEE Int. Workshop on Advanced Motion Control, pp. 472-477
3. Aydin, S., Temeltas, H., 2003. Time optimal trajectory planning for mobile robot by differential evolution algorithm and neural networks. In: IEEE Int. Symp. on Industrial Electronics, pp. 352-357
4. Balkcom, D.J., Mason, M.T., 2002. Extremal trajectories for bounded velocity mobile robots. In: Proc. IEEE Int. Conf. on Robotics & Automation
5. Bicchi A., Casalino G., and Santilli C. Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles. J. Intell. Robot. Syst. 16 (1996) 387-405
6. Bloch A.M., Reyhaniglu M., and McClamroch N.H. Control and stabilization of nonholonomic dynamical systems. IEEE Trans. Automatic Control 37 11 (1992) 1746-1757
7. Campion G., Bastin G., and d'Andrea-Novel B. Structural properties and classification of kinematics and dynamic models of wheeled mobile robots. IEEE Trans. Robotics and Automation 12 1 (1996) 47-62
8. Campion, G., d'Andrea-Novel, B., Bastin, G., 1991. Modelling and state feedback control of nonholonomic mechanical systems. In: IEEE Proc. 30th Conf. on Decision and Control, pp. 1184-1189
9. Cherif, M., 1995. Planification de mouvements pour un robot mobile autonome tout-terrain : une approche par utilisation des modèles physiques. Thèse de Doctorat, Université de Grenoble, France
10. Chettibi T., Haddad M., Labed A., and Hanchi S. Generating optimal dynamic motions for closed-chain robotic systems. Eur. J. Mech. A Solids 24 (2005) 504-518
11. Chettibi, T., Lehtihet, H.E., 2002. A new approach for point to point optimal motion planning problems of robotic manipulators. In: Proc. 6th Biennial Conf. on Engineering Systems Design and Analysis, APM10
12. Chettibi T., Lehtihet H.E., Haddad M., and Hanchi S. Minimum cost trajectory planning for industrial robots. Eur. J. Mech. A Solids (2004) 703-715
13. Choi J.-S., and Kim B.K. Near-time-optimal trajectory planning for wheeled mobile robots with translational and rotational sections. IEEE Trans. Robotics and Automation 17 1 (2001) 85-90
14. Dubins L.E. On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents. Am. J. Math. 79 (1957) 497-516
15. Fernandes, C., Gurvits, L., Li, Z.X., 1991. A variational approach to optimal nonholonomic motion planning. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 680-685
16. Fernandes C., Gurvits L., and Li Z. Near-optimal nonholonomic motion planning for a system of coupled rigid bodies. IEEE Trans. Automatic Control 39 3 (1994) 450-463
17. Fourquet, J.-Y., Renaud, M., 1996. Time optimal motion for a torque controlled wheeled mobile robot along specified paths. In: Proc. of the 35th Conf. on Decision and Control, pp. 3587-3592
18. Greattinger T.J., and Krogh B.H. Evaluation and time scaling of trajectories for wheeled mobile robots. ASME J. Dynamic Systems, Measurement, Control 111 (1989) 222-231
19. Goldstein H. Classical Mechanics. second ed (1980), Addison-Wesley
20. Gupta K., and Del-Pobil A. Practical Motion Planning in Robotics: Current Approaches and Future Directions (1998), Wiley
21. Haddad, M., Chettibi, T., Lehtihet, H.E., Hanchi, S., 2005. A new approach for minimum-time motion planning problem of wheeled mobile robots. In: 16th IFAC World Congress, Prague
22. Haddad M., Chettibi T., Saidouni T., Hanchi S., and Lehtihet H.E. Sub-optimal motion planner of mobile manipulators in generalized point-to-point task with stability constraint. In: Zielinska T., and Zielinski C. (Eds). Romansy 16 Robot Design, Dynamics and Control (2006), Springer, Wien 171-178
23. Hollerbach, J.M., 1983. Dynamic Scaling of Manipulator Trajectories. M.I.T.A.I. Lab Memo 700
24. Iwamura, M., Yamamoto, M., Mohri, A., 2000. A gradient-based approach to collision-free quasi-optimal trajectory planning of nonholonomic systems. In: Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1734-1740
25. Jacobs, P., Laumond, J.-P., Rege, A., 1991. Non-holonomic motion planning for Hilare-like mobile robots. In: Proc. of Int. Symp. on Intelligent Robotics
26. Kanayama Y., and Hartman B. Smooth local path planning for autonomous vehicles. Int. J. Robotic Res. 16 3 (1997) 263-584
27. Kavraki L., Svestka P., Latombe J.C., and Overmars M. Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robotics and Automation 12 4 (1996) 566-580
28. Kirkpatrick S., Gelett C., and Vecchi M. Optimization by simulated annealing. Science (1983) 621-680
29. Latombe J.-C. Robot Motion Planning (1991), Kluwer Academic Press
30. Laumond, J.-P., 1986. Feasible trajectories for mobile robots with kinematic and environment constraints. In: Int. Conf. on Intelligent Autonomous Systems, pp. 346-354
31. Laumond J.P. A motion planner for nonholonomic mobile robots. IEEE Trans. Robotics and Automation 10 (1994) 577-593
32. Laumond J.-P. Robot Motion Planning and Control (1998), Springer-Verlag
33. Lozano-Pérez T. Spatial planning: a configuration space approach. IEEE Trans. on Computers 32 2 (1983) 108-120
34. Mohri, A., Yamamoto, M., Fukuda, S., 1996. Collision free trajectory planning for multiple mobile robots in environment with periodic motion obstacle. In: Proc. of IEEE Int. Conf. on Industrial Electronics, Control and Instrumentation, pp. 1572-1576
35. Munoz, V., Ollero, A., Prado, M., Simon, A., 1994. Mobile robot trajectory planning with dynamic and kinematic constraints. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2802-2807
36. Pontryagin L., Boltianski V., Gamkrelidze R., and Michtchenko E. Théorie mathématique des processus optimaux (1965), Edition Mir
37. Reed J.A., and Shepp L.A. Optimal paths for a car that goes both forward and backward. Pacific J. Math. 145 2 (1990) 367-393
38. Reister D.B., and Pin F.G. Time-optimal trajectories for mobile robots with two independently driven wheels. Int. J. Robotic Res. 13 1 (1994) 38-54
39. Renaud, M., Fourquet, J.Y., 1997. Minimum-time motion of a mobile robot with two independent acceleration-driven wheels. In: Proc. of IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, pp. 2608-2613
40. Saidouni, T., 1005. Synthèse Numérique d'Allures de Marche Optimales de Robots Bipeds Anthropomorphes. Thèse de doctorat, Université de Potiers, France
41. Shiller, Z., Chen, J.C., 1990. Optimal motion planning of autonomous vehicles in three dimensional terrains. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 198-203
42. Shiller Z., and Gwo Y.-R. Dynamic motion planning of autonomous vehicles. IEEE Trans. Robotics and Automation 7 2 (1991) 241-249
43. Siméon, T., 1991. Motion planning for a nonholonomic mobile robot on 3-dimensional terrains. In: Proc. of IEEE/RSJ Int.l Conf. on Intelligent Robots and Systems, pp. 1455-1460
44. Souères P., and Laumond J.-P. Shortest paths synthesis for a car-like robot. IEEE Trans. Automatic Control 41 5 (1996) 672-688
45. Yamamoto, M., Iwamura, M., Mohri, A., 1998. Time-optimal motion planning of skid-steer mobile robots in the presence of obstacles. In: Proc. of the 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 32-37
46. Yamamoto, M., Iwamura, M., Mohri, A., 1999. Quasi-time-optimal motion planning of mobile platforms in the presence of obstacles. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2958-2962
47. Yih, C.-C., Ro, P.I., 1996. Near-optimal motion planning for nonholonomic systems using multi-point shooting method. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2943-2948
48. Wu, W., Chen, H., Woo, P.-Y., 1999. Optimal motion planning for a wheeled mobile robot. In: Proc. of IEEE Int. Conf. on Robotics & Automation, pp. 41-46
49. Wu W., Chen H., and Woo P.-Y. Time optimal path planning for a wheeled mobile robot. J. Robotic Systems 17 11 (2000) 585-591