Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments

This paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for Omni-directional robots. The aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. First, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms trajectory planning to an optimization problem. Then we use a novel method to solving the optimization problem and obtaining the unknown parameters. Finally, the efficiency of proposed approach is confirmed by simulation.

Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments Keywords:

obstacle avoidance , Omni-directional robot , optimization problem , polynomial trajectory , Trajectory Planning , دوری از موانع , ربات چند جهته , مسئله بهینه سازی , مسیر زمان دار چند جمله ای , برنامه ریزی مسیر زمان دار

Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments authors

فاطمه تحفه

M.Sc. of Control Engineering, Department of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran,

احمد فخاریان

Assistant Professor, Department of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran, Corresponding Author

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Link to this Paper:

https://civilica.com/doc/2197988

Document National Code:

JR_MJEEMO-12-3_003

Index date: 11 March 2025

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تحفه, فاطمه and فخاریان, احمد,1391,Polynomial Optimal Trajectory Planning and Obstacle Aviodance for Omni-directional Mobile Robots in Dynamic Environments,https://civilica.com/doc/2197988

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Ranking of Islamic Azad University of Qazvin

Type of center: دانشگاه آزاد

Paper count: 13,643

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