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Optimal Control Strategy for Collision Avoidance of Mobile Robots in Non-Stationary Environments

机译：非平稳环境下移动机器人避碰的最优控制策略

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摘要

An optimal control formulation of the problem of collision avoidance of mobilerobots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

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