Time optimal path planning for mobile robots in dynamic environments

Mitchell Dinham; Gu Fang

doi:10.1109/ICMA.2007.4303881

Time optimal path planning for mobile robots in dynamic environments

Mitchell Dinham
, Gu Fang

School of Engineering, Design & Built Environment

Western Sydney University

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

9 Citations (Scopus)

Abstract

This paper aims to develop a control method by using artificial potential field with the addition of an algorithm that implements an online time-optimal collision avoidance strategy for a robot to move through a partially known dynamic environment. In many applications, robots are required to move along a predefined path if there are no moving obstacles. When moving obstacles are encountered a collision avoidance strategy must be employed. In this paper, a control strategy is developed to address these two requirements. This is done by using the potential field to follow the predefined paths and to avoid the obstacle. The time-optimal issue is then taken into consideration, when moving obstacles are encountered, to decide if the robot is to move around obstacles or wait until obstacles moving out of the robot path. Simulation results shown that a significant time saving (around 10%) can be achieved using the proposed method.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages	2132-2137
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2007.4303881
Publication status	Published - 2007
Event	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China Duration: 5 Aug 2007 → 8 Aug 2007

Publication series

Name	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Conference

Conference	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/Territory	China
City	Harbin
Period	5/08/07 → 8/08/07

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Artificial potential fields
Nonholonomic mobile robots
Path planning
Time-optimal control

Access to Document

10.1109/ICMA.2007.4303881

Cite this

Dinham, M., & Fang, G. (2007). Time optimal path planning for mobile robots in dynamic environments. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 (pp. 2132-2137). Article 4303881 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007). https://doi.org/10.1109/ICMA.2007.4303881

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title = "Time optimal path planning for mobile robots in dynamic environments",

abstract = "This paper aims to develop a control method by using artificial potential field with the addition of an algorithm that implements an online time-optimal collision avoidance strategy for a robot to move through a partially known dynamic environment. In many applications, robots are required to move along a predefined path if there are no moving obstacles. When moving obstacles are encountered a collision avoidance strategy must be employed. In this paper, a control strategy is developed to address these two requirements. This is done by using the potential field to follow the predefined paths and to avoid the obstacle. The time-optimal issue is then taken into consideration, when moving obstacles are encountered, to decide if the robot is to move around obstacles or wait until obstacles moving out of the robot path. Simulation results shown that a significant time saving (around 10\%) can be achieved using the proposed method.",

keywords = "Artificial potential fields, Nonholonomic mobile robots, Path planning, Time-optimal control",

author = "Mitchell Dinham and Gu Fang",

year = "2007",

doi = "10.1109/ICMA.2007.4303881",

language = "English",

isbn = "1424408288",

series = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",

pages = "2132--2137",

booktitle = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",

note = "2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 ; Conference date: 05-08-2007 Through 08-08-2007",

}

Dinham, M & Fang, G 2007, Time optimal path planning for mobile robots in dynamic environments. in Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007., 4303881, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, pp. 2132-2137, 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, 5/08/07. https://doi.org/10.1109/ICMA.2007.4303881

Time optimal path planning for mobile robots in dynamic environments. / Dinham, Mitchell; Fang, Gu.
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 2132-2137 4303881 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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AU - Fang, Gu

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N2 - This paper aims to develop a control method by using artificial potential field with the addition of an algorithm that implements an online time-optimal collision avoidance strategy for a robot to move through a partially known dynamic environment. In many applications, robots are required to move along a predefined path if there are no moving obstacles. When moving obstacles are encountered a collision avoidance strategy must be employed. In this paper, a control strategy is developed to address these two requirements. This is done by using the potential field to follow the predefined paths and to avoid the obstacle. The time-optimal issue is then taken into consideration, when moving obstacles are encountered, to decide if the robot is to move around obstacles or wait until obstacles moving out of the robot path. Simulation results shown that a significant time saving (around 10%) can be achieved using the proposed method.

AB - This paper aims to develop a control method by using artificial potential field with the addition of an algorithm that implements an online time-optimal collision avoidance strategy for a robot to move through a partially known dynamic environment. In many applications, robots are required to move along a predefined path if there are no moving obstacles. When moving obstacles are encountered a collision avoidance strategy must be employed. In this paper, a control strategy is developed to address these two requirements. This is done by using the potential field to follow the predefined paths and to avoid the obstacle. The time-optimal issue is then taken into consideration, when moving obstacles are encountered, to decide if the robot is to move around obstacles or wait until obstacles moving out of the robot path. Simulation results shown that a significant time saving (around 10%) can be achieved using the proposed method.

KW - Artificial potential fields

KW - Nonholonomic mobile robots

KW - Path planning

KW - Time-optimal control

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BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

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Y2 - 5 August 2007 through 8 August 2007

ER -

Time optimal path planning for mobile robots in dynamic environments

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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