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Motion Planning in Dynamic Environments Using Velocity Obstacles
The International Journal of Robotics Research, 1998This paper presents a method for robot motion planning in dynamic environments. It consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on the cur rent positions and velocities of the robot and obstacles.
FIORINI, Paolo, Shiller Z.
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On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018This paper presents orientation planning algorithms respecting the requirements of task space trajectory generation, particularly in robotics applications. The proposed algorithms fulfill the following conditions: (i) permitting to impose constraints at angular velocity and acceleration in addition to orientation at endpoints; (ii) rendering continuous
Mohammad Shahbazi +3 more
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Human-aware robot motion planning with velocity constraints
2008 International Symposium on Collaborative Technologies and Systems, 2008This paper addresses the issue of how high-speed robots may move among humans such that the robots complete their tasks efficiently while the humans in the environment feel safe and comfortable. It describes the Segway robotic platform used for this research and then discusses the three primary research areas needed to develop the human-aware motion ...
Dongqing Shi +5 more
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Planning of mobile robots under limitted velocity and acceleration
2014 22nd Signal Processing and Communications Applications Conference (SIU), 2014Manipulator systems or mobile vehicles are designed to perform a desired motion task, where they need to provide the space and time required for the task in trajectory equation forms. The most common form of a trajectory is polynomial. In this paper, we considered a polynomial trajectory for the problem of moving a mobile robot from its initial ...
Hossein Barghi Jond +2 more
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Planning velocities of free sliding objects for dynamic manipulation
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2004In this paper, a novel numerical approach is proposed to solve the initial velocities of the free sliding object for given initial and final configurations. To find the desired initial velocities for free sliding objects is a key step for implementing dynamic manipulation.
Qingguo Li, Shahram Payandeh
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Velocity and acceleration constrained trajectory planning by smoothing splines
2017 IEEE 26th International Symposium on Industrial Electronics (ISIE), 2017We develop a trajectory planning method of mobile robots in a two-dimensional plane. Trajectories are constructed as vector smoothing splines using B-splines as the basis functions. We plan trajectory for road-like path specified by piecewise linear boundaries as treated in our recent paper, and our specific focus in this paper is on introducing ...
Hiroyuki Kano, Hiroyuki Fujioka
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Motion planning in dynamic environments using the velocity space
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005This paper addresses a method for robot motion planning in dynamic environments, avoiding the moving and static obstacles while the robot drives towards the goal. The method maps the dynamic environment into a velocity space, using the concept of estimated arriving time to compute the times to potential collision and potential escape.
Eduardo Owen, Luis Montano
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Robot trajectory planning by assigning positions and tangential velocities
Robotics and Computer-Integrated Manufacturing, 2013A technique for the robot trajectory planning is proposed.The technique mainly consists in controlling a manipulator by assigning not only the way points on the path but also the geometrical tangent of the desired path shape at each of those points.This is achieved by assigning to the control system not only the joint variables { q i } , but also the ...
ROSSI, CESARE, SAVINO, Sergio
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Minimum-Jerk Velocity Planning for Mobile Robot Applications
IEEE Transactions on Robotics, 2013This paper studies an assigned-time velocity-planning problem for robotic systems that are subject to velocity and acceleration constraints. The planning problem, which is justified by several robotic applications, poses feasibility issues that are investigated in this paper.
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An optimal complexity algorithm for minimum-time velocity planning
Systems & Control Letters, 2017zbMATH Open Web Interface contents unavailable due to conflicting licenses.
CONSOLINI, Luca +3 more
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