Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (2)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Tsoularis, A.
Right arrow Articles by Kambhampati, C.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Avoiding Moving Obstacles by Deviation from a Mobile Robot’s Nominal Path

A. Tsoularis

C. Kambhampati

Department of Cybernetics, University of Reading, Whiteknights, Reading RG6 2AY, UKshskambh{at}reading.ac.uk

This paper deals with the problem of obstacle avoidance by deviation from the nominal path. Deviation is the only option available to the robot when the acceleration or deceleration plan on the nominal path fails to produce a viable avoidance strategy. The obstacle avoidance on the nominal path was dealt with in our previous development, where the robot’s motion was only subject to an upper bound on its speed. When the robot has to deviate, its motion is subject to a maximum steering constraint and a maximum deviation constraint in addition to the maximum speed constraint. The problem is solved geometrically by identifying final states for the robot that are reachable, satisfy all the constraints, and guarantee collision avoidance. The final state-reachability conditions that we obtain in the process ensure that no unnecessary deviation plan is initiated. These conditions, along with the simplicity of the geometric arguments we employ, make our scheme an attractive option for on-line implementation. The only significant complexity arises when minimizing the performance index. We have suggested dynamic programming as an optimization tool, but any other nonlinear optimization technique can be adopted.

The International Journal of Robotics Research, Vol. 18, No. 5, 454-465 (1999)
DOI: 10.1177/027836499901800503
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?