An optimal control strategy for collision avoidance of mobile robots in nonstationary environments
作者： K.J. Kyraikopoulos , G.N. Saridis
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摘要: An optimal control formulation of the problem collision avoidance mobile robots in environments containing moving obstacles is presented. Collision guaranteed if minimum distance between robot and objects nonzero. A nominal trajectory assumed to be known from offline planning. The main idea change velocity along so that collisions are avoided. Furthermore, time consistency with plan desirable. numerical solution optimization obtained. Simulation results verify value proposed strategy. >
jaxa.jp参考文章(18)
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