naa a22 4500 510823173 CHVBK 20180411083543.0 cr unu---uuuuu 180411e20130301xx s 000 0 eng 10.1007/s12541-013-0050-x doi (NATIONALLICENCE)springer-10.1007/s12541-013-0050-x Model based real-time collision-free motion planning for nonholonomic mobile robots in unknown dynamic environments [Elektronische Daten] [Hongliang Yuan, Taehyun Shim] In this paper, by explicitly considering a dynamic model of the robots, the coefficients of trajectories are determined by boundary conditions, optimal performance index and collision avoidance conditions. The planned trajectory is feasible and has a closed loop expression, which is efficient for real-time updating. There are two main improvements compared with existing parametric approaches. Firstly, most of existing methods use the kinematic models of the robots, which could cause curvature discontinuities when trajectories are updated in real-time. Secondly, in some existing parametric methods, the initial position and ending waypoints cannot be aligned vertically due to singularities. The approach proposed in this paper overcomes this limitation. Computer simulations verified the effectiveness of the proposed method. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Trajectory planning nationallicence Obstacle avoidance nationallicence Optimal planning nationallicence Differential flatness nationallicence Yuan Hongliang School of Electronics & Information Engineering, Tongji University, 201804, Shanghai, China aut Shim Taehyun Department of Mechanical Engineering, University of Michigan-Dearborn, 48128, Dearborn, US, USA aut International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/3(2013-03-01), 359-365 2234-7593 14:3<359 2013 14 12541 https://doi.org/10.1007/s12541-013-0050-x text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0050-x text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Yuan Hongliang School of Electronics & Information Engineering, Tongji University, 201804, Shanghai, China aut NATIONALLICENCE 700 1- Shim Taehyun Department of Mechanical Engineering, University of Michigan-Dearborn, 48128, Dearborn, US, USA aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Korean Society for Precision Engineering 14/3(2013-03-01), 359-365 2234-7593 14:3<359 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer