MOTION PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS

Jing Ren, Kenneth A. McIsaac, Xishi Huang

Abstract

In this paper, we present a motion planning technique for a multi-robot team in a complex dynamic environment. We define a cell-based navigation control law that can guide the robot team through the environment while avoiding collisions with both static and dynamic obstacles and other team members. To illustrate our techniques, we consider a robot team motion planning problem in a complex “maze” with obstacles of arbitrary shape. First, we assign potential values to a set of landmarks based on their shortest distance to the goal, and then we use a spline function to generate a potential field for the entire workspace, which is inherently free of undesired local minima. Simulation results show that robots can successfully transport materials along an optimal and collision-free path and reach the goal in a complex and dynamic maze environment. Finally we prove the derived control law is stable in all times.

References

  1. Esposito J.M. and Kumar, V. A method for modifying closed-loop motion plans to satisfy unpredictable dynamic constraints at run-time. In Proc. IEEE Int. Conf. Robotics and Automation, pages 1691- 1696, Washington, May 2002.
  2. Koditschek, D.E. Robot planning and control via potential functions. In O. Khatib, J. J. Craig, and T. LozanoPerez, editors, The Robotics Review 1, pages 349-367, 1989.
  3. J. Ren, K. A. McIsaac. A Hybrid Systems Approach to Potential Field Navigation for a Multi-Robot Team. In Proc. IEEE Int. Conf. Robotics and Automation, pages 3875-3880, Taipei, Sept 2003.
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Paper Citation


in Harvard Style

Ren J., A. McIsaac K. and Huang X. (2004). MOTION PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 361-364. DOI: 10.5220/0001128503610364


in Bibtex Style

@conference{icinco04,
author={Jing Ren and Kenneth A. McIsaac and Xishi Huang},
title={MOTION PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={361-364},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001128503610364},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MOTION PLANNING FOR MOBILE ROBOTS IN DYNAMIC ENVIRONMENTS
SN - 972-8865-12-0
AU - Ren J.
AU - A. McIsaac K.
AU - Huang X.
PY - 2004
SP - 361
EP - 364
DO - 10.5220/0001128503610364