- 著者
- Masato Kobayashi Naoki Motoi
- 出版者
- The Institute of Electrical Engineers of Japan
- 雑誌
- IEEJ Journal of Industry Applications (ISSN:21871094)
- 巻号頁・発行日
- vol.9, no.4, pp.331-340, 2020-07-01 (Released:2020-07-01)
- 参考文献数
- 15
- 被引用文献数
- 2 3
This paper proposes a hybrid control of trajectory planning for a desired trajectory and collision avoidance based on an optimization problem for a wheeled mobile robot. In the proposed method, the priority of trajectory planning for the desired trajectory and collision avoidance is modified using the priority variable α. The priority variable α is designed by solving the optimization problem with constraints. As a constraint condition, the range of the priority variable α where the robot does not collide with multiple obstacles is derived. Under this constraint condition, the priority variable α with the highest priority of trajectory planning for the desired trajectory is selected as the optimal value. As a result, the velocity commands considering trajectory planning for the desired trajectory and collision avoidance are calculated in real time. The effectiveness of the proposed method is confirmed via experimental results.