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JRM Vol.10 No.4 pp. 364-369
doi: 10.20965/jrm.1998.p0364
(1998)

Paper:

Collision-Free Trajectory Planning for a Two-Dimensional Mobile Robot by Optimizing Continuous Curves

Hiroaki Ozaki and Chang-jun Lin

Mechacnical Engineering, Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Jonan-ku, Fukuoka 814-0180, Japan

Received:
September 4, 1997
Accepted:
August 6, 1998
Published:
August 20, 1998
Keywords:
Mobile robot, Collision-free, Trajectory planning, B-spline, Complex method
Abstract

We propose a new algorithm for planning collision-free trajectories for a mobile robot. The trajectories of the mobile robot are described by uniform B-spline curves and these control points are optimized using the complex method. The complex method is very effective for this type of optimization of nonlinear problems because it does not require any computation of the gradient of performance index. B-spline curves have advantages for trajectory generation in that they guarantee the continuity of trajectories and the order of trajectories can be changed easily. Effectiveness is also confirmed by trajectory planning simulation of a two-dimensional mobile robot.

Cite this article as:
Hiroaki Ozaki and Chang-jun Lin, “Collision-Free Trajectory Planning for a Two-Dimensional Mobile Robot by Optimizing Continuous Curves,” J. Robot. Mechatron., Vol.10, No.4, pp. 364-369, 1998.
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