Time-optimal motion planning for a nonholonomic mobile robot on a barcode map

2017 ◽  
Author(s):  
Jiarui Wang ◽  
Xuebo Zhang ◽  
Haiming Gao ◽  
Yongchun Fang
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Optimal Motion ◽  
Nonholonomic Mobile Robot ◽  
Optimal Motion Planning ◽  
Time Optimal

Time Optimal Motion Planning and Admittance Control for Cooperative Grasping

2020 ◽  
Vol 5 (2) ◽  
pp. 2216-2223 ◽  
Author(s):  
Dominik Kaserer ◽  
Hubert Gattringer ◽  
Andreas Muller
Keyword(s):  
Motion Planning ◽  
Admittance Control ◽  
Optimal Motion ◽  
Optimal Motion Planning ◽  
Time Optimal

Time-optimal smooth-path motion planning for a mobile robot with kinematic constraints

Robotica ◽  
1997 ◽  
Vol 15 (5) ◽  
pp. 547-553 ◽  
Author(s):  
K. Jiang ◽  
L.D. Seneviratne ◽  
S.W.E. Earles
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Visibility Graph ◽  
A Algorithm ◽  
Kinematic Constraints ◽  
Smooth Path ◽  
Present Solution ◽  
Optimal Motion Planning ◽  
Time Optimal ◽  
Time Of Travel

This paper presents a novel time-optimal motion planning strategy for a mobile robot with kinematic constraints. The method works in environments in presence of obstacles, without needing to generate the configuration space for the robot. Further, it derives a minimum time first derivative smooth path, as opposed to a minimum distance path which is commonly given by various present solution techniques. The problem is solved in three stages: (i) A reduced visibility graph for a point object is obtained. (ii) The reduced visibility graph is converted into a feasible reduced visibility graph accounting for the size and kinematic constraints of the robot. (iii) The A* algorithm is used to search the feasible reduced visibility graph with the cost function being the time of travel, to obtain a safe, time-optimal, smooth path. The algorithm runs in polynomial time. The method has been tested in computer simulations and test results are presented

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