Behavior dynamics of collision-avoidance in motion planning of mobile robots

Xing-Jian Jing; Da-Long Tan; Yue-Chao Wang

doi:10.1109/iros.2004.1389628

Behavior dynamics of collision-avoidance in motion planning of mobile robots

Xing-Jian Jing
, Da-Long Tan
, Yue-Chao Wang

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

7 Citations (Scopus)

Abstract

This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot. The behavior dynamics of a dynamic collision-avoidance process was modeled, and then the motion-planning problem was transformed into a simple optimization problem with some inequality constraints based on control of the behavior dynamics. The decision-making space of this optimization problem is right the acceleration space of the mobile robot. By solving this optimization problem, the optimal behavior of the mobile robot to avoid obstacles and go to the desired target can be obtained easily. Simulations are given to illustrate the main ideas.

Original language	English
Title of host publication	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages	1624-1629
Volume	2
DOIs	https://doi.org/10.1109/iros.2004.1389628
Publication status	Published - 2004
Externally published	Yes
Event	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 204) - Sendai, Japan Duration: 28 Sept 2004 → 2 Oct 2004 https://ieeexplore.ieee.org/xpl/conhome/9577/proceeding

Publication series

Name	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume	2

Conference

Conference	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 204)
Place	Japan
City	Sendai
Period	28/09/04 → 2/10/04
Internet address	https://ieeexplore.ieee.org/xpl/conhome/9577/proceeding

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

UN SDGs

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

SDG 3 Good Health and Well-being

Research Keywords

Behavior dynamics
Collision avoidance
Mobile robots
Motion planning
Uncertain dynamic environment

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10.1109/iros.2004.1389628

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Cite this

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title = "Behavior dynamics of collision-avoidance in motion planning of mobile robots",

abstract = "This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot. The behavior dynamics of a dynamic collision-avoidance process was modeled, and then the motion-planning problem was transformed into a simple optimization problem with some inequality constraints based on control of the behavior dynamics. The decision-making space of this optimization problem is right the acceleration space of the mobile robot. By solving this optimization problem, the optimal behavior of the mobile robot to avoid obstacles and go to the desired target can be obtained easily. Simulations are given to illustrate the main ideas.",

keywords = "Behavior dynamics, Collision avoidance, Mobile robots, Motion planning, Uncertain dynamic environment",

author = "Xing-Jian Jing and Da-Long Tan and Yue-Chao Wang",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 204) ; Conference date: 28-09-2004 Through 02-10-2004",

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doi = "10.1109/iros.2004.1389628",

language = "English",

isbn = "0780384636",

volume = "2",

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}

Jing, X-J, Tan, D-L & Wang, Y-C 2004, Behavior dynamics of collision-avoidance in motion planning of mobile robots. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 2, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2, pp. 1624-1629, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 204), Sendai, Japan, 28/09/04. https://doi.org/10.1109/iros.2004.1389628

Behavior dynamics of collision-avoidance in motion planning of mobile robots. / Jing, Xing-Jian; Tan, Da-Long; Wang, Yue-Chao.
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2 2004. p. 1624-1629 (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 2).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Jing, Xing-Jian

AU - Tan, Da-Long

AU - Wang, Yue-Chao

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2004

Y1 - 2004

N2 - This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot. The behavior dynamics of a dynamic collision-avoidance process was modeled, and then the motion-planning problem was transformed into a simple optimization problem with some inequality constraints based on control of the behavior dynamics. The decision-making space of this optimization problem is right the acceleration space of the mobile robot. By solving this optimization problem, the optimal behavior of the mobile robot to avoid obstacles and go to the desired target can be obtained easily. Simulations are given to illustrate the main ideas.

AB - This paper describes the motion planning problems of mobile robots in uncertain dynamic environments with no restrictions on the shape of obstacles. A new approach based on the behavior dynamics of collision-avoidance is proposed to deal with the real-time collision-free motion planning using the local coordinates of the mobile robot. The behavior dynamics of a dynamic collision-avoidance process was modeled, and then the motion-planning problem was transformed into a simple optimization problem with some inequality constraints based on control of the behavior dynamics. The decision-making space of this optimization problem is right the acceleration space of the mobile robot. By solving this optimization problem, the optimal behavior of the mobile robot to avoid obstacles and go to the desired target can be obtained easily. Simulations are given to illustrate the main ideas.

KW - Behavior dynamics

KW - Collision avoidance

KW - Mobile robots

KW - Motion planning

KW - Uncertain dynamic environment

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T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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ER -

Behavior dynamics of collision-avoidance in motion planning of mobile robots

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Research Keywords

Access Output

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