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Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization

Berntorp, Karl LU ; Olofsson, Björn LU and Robertsson, Anders LU (2014) American Control Conference, 2014 p.517-524
Abstract
We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach also incorporates avoidance of moving obstacles, which are unknown a priori. Using sensor data, objects along the desired path are detected. Subsequently, a new path is planned and the corresponding time-optimal trajectory is found. The robustness of the method and its sensitivity to model errors are analyzed and discussed with extensive... (More)
We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach also incorporates avoidance of moving obstacles, which are unknown a priori. Using sensor data, objects along the desired path are detected. Subsequently, a new path is planned and the corresponding time-optimal trajectory is found. The robustness of the method and its sensitivity to model errors are analyzed and discussed with extensive simulation results. Moreover, we verify the approach by successful execution on a physical setup. (Less)
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
[Host publication title missing]
editor
Alessandro, Astolfi
pages
517 - 524
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
American Control Conference, 2014
conference location
Portland, OR, United States
conference dates
2014-06-04 - 2014-06-06
external identifiers
  • wos:000346492601012
  • scopus:84905711412
ISSN
0743-1619
project
ENGROSS
SMErobotics
language
English
LU publication?
yes
id
ae3fbca9-ee67-4420-87c8-7c2a7991ffc3 (old id 4280557)
date added to LUP
2016-04-01 12:56:33
date last changed
2021-09-29 03:34:37
@inproceedings{ae3fbca9-ee67-4420-87c8-7c2a7991ffc3,
  abstract     = {We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach also incorporates avoidance of moving obstacles, which are unknown a priori. Using sensor data, objects along the desired path are detected. Subsequently, a new path is planned and the corresponding time-optimal trajectory is found. The robustness of the method and its sensitivity to model errors are analyzed and discussed with extensive simulation results. Moreover, we verify the approach by successful execution on a physical setup.},
  author       = {Berntorp, Karl and Olofsson, Björn and Robertsson, Anders},
  booktitle    = {[Host publication title missing]},
  editor       = {Alessandro, Astolfi},
  issn         = {0743-1619},
  language     = {eng},
  pages        = {517--524},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Path Tracking with Obstacle Avoidance for Pseudo-Omnidirectional Mobile Robots Using Convex Optimization},
  url          = {https://lup.lub.lu.se/search/files/3059284/4316431.pdf},
  year         = {2014},
}