Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments

Kyriakopoulos, K; Saridis, G

dc.contributor.author	Kyriakopoulos, K	en
dc.contributor.author	Saridis, G	en
dc.date.accessioned	2014-03-01T01:42:25Z
dc.date.available	2014-03-01T01:42:25Z
dc.date.issued	1994	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/23821
dc.subject	Collision Avoidance	en
dc.subject	Dynamic Model	en
dc.subject	Minimum Distance	en
dc.subject	Mobile Robot	en
dc.subject	Motion Planning	en
dc.subject	Numerical Solution	en
dc.subject	Optimal Control	en
dc.subject	Optimal Solution	en
dc.subject	Optimization Problem	en
dc.subject	Time Consistency	en
dc.title	Optimal and suboptimal motion planning for collision avoidance of mobile robots in non-stationary environments	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/BF01254013	en
heal.identifier.secondary	http://dx.doi.org/10.1007/BF01254013	en
heal.publicationDate	1994	en
heal.abstract	An optimal control formulation of the problem of collision avoidance of mobile robots moving in terrains containingmoving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning.	en
heal.journalName	Journal of Intelligent and Robotic Systems	en
dc.identifier.doi	10.1007/BF01254013	en