Robust motion planning and control of mobile robots for collision avoidance in terrains with moving objects

Tzafestas, SG; Tzamtzi, MP; Rigatos, GG

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Tzamtzi, MP	en
dc.contributor.author	Rigatos, GG	en
dc.date.accessioned	2014-03-01T01:18:19Z
dc.date.available	2014-03-01T01:18:19Z
dc.date.issued	2002	en
dc.identifier.issn	0378-4754	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14928
dc.subject	Collision avoidance	en
dc.subject	Minimum interference strategy	en
dc.subject	Mobile robots	en
dc.subject	Motion planning	en
dc.subject	Moving obstacles	en
dc.subject	Robust control	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Computer Science, Software Engineering	en
dc.subject.classification	Mathematics, Applied	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computational methods	en
dc.subject.other	Computer simulation	en
dc.subject.other	Motion planning	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Sliding mode control	en
dc.subject.other	Minimum interference strategy (MIS)	en
dc.subject.other	Moving obsticles	en
dc.subject.other	Mobile robots	en
dc.title	Robust motion planning and control of mobile robots for collision avoidance in terrains with moving objects	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0378-4754(01)00351-2	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0378-4754(01)00351-2	en
heal.language	English	en
heal.publicationDate	2002	en
heal.abstract	The present paper studies the problem of control and motion planning in the presence of uncertainty, for a mobile robot subject to state and actuator constraints, that moves along a predetermined path inside a terrain with moving obstacles. The motion of the robot must be as close as possible with respect to time to a nominal velocity profile. The basic idea followed consists in the combination and mutual interaction of a known motion planning method, called minimum interference strategy (MIS), and sliding mode controller. More specifically, the motion planning is performed considering fictitious state and input constraints which are determined taking into account the expected bounds of the declination between the actual and the nominal motions and control laws, in such a way that the actual constraints are not violated despite the uncertainties. The control law parameters must be chosen so that the ranges of motion are restricted as less as possible. The proposed method is computationally efficient and is suitable for on-line implementation. A non-trivial simulation example is included which demonstrates the capabilities of the proposed robust motion controller. (C) 2002 IMACS. Published by Elsevier Science B.V. All rights reserved.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Mathematics and Computers in Simulation	en
dc.identifier.doi	10.1016/S0378-4754(01)00351-2	en
dc.identifier.isi	ISI:000176085300001	en
dc.identifier.volume	59	en
dc.identifier.issue	4	en
dc.identifier.spage	279	en
dc.identifier.epage	292	en