Control of behavior dynamics for motion planning of mobile robots in uncertain environments

Xing-Jian Jing; Yue-Chao Wang

doi:10.1109/ICMECH.2005.1529284

Control of behavior dynamics for motion planning of mobile robots in uncertain environments

Xing-Jian Jing
, Yue-Chao Wang

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

1 Citation (Scopus)

Abstract

This paper provides a new approach to the dynamic motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics from an optimal control point of view. The fundamental behavior of a mobile robot in motion planning is regarded as a dynamic process of the interaction between the robot and its local environment, and then it is modeled and controlled for the motion planning purpose. Based on the optimal control of the behavior dynamics, the dynamic motion-planning problem can be transformed into a conventional optimization problem in the robot's acceleration space, and the optimal motion behavior of the mobile robot can be obtained on line. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. Stability of the whole planning-and-control system can be guaranteed. Simulations illustrate our results. © 2005 IEEE.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Mechatronics
Publisher	IEEE
Pages	364-369
ISBN (Electronic)	0-7803-8999-9
ISBN (Print)	0-7803-8998-0
DOIs	https://doi.org/10.1109/ICMECH.2005.1529284
Publication status	Published - 2005
Externally published	Yes
Event	2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan, China Duration: 10 Jul 2005 → 12 Jul 2005

Publication series

Name	Proceedings of the IEEE International Conference on Mechatronics, ICM

Conference

Conference	2005 IEEE International Conference on Mechatronics, ICM '05
Place	Taiwan, China
City	Taipei
Period	10/07/05 → 12/07/05

UN SDGs

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

SDG 3 Good Health and Well-being

Research Keywords

motion planning
mobile robots
uncertain environment
behavior dynamics
NAVIGATION

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10.1109/ICMECH.2005.1529284

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title = "Control of behavior dynamics for motion planning of mobile robots in uncertain environments",

abstract = "This paper provides a new approach to the dynamic motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics from an optimal control point of view. The fundamental behavior of a mobile robot in motion planning is regarded as a dynamic process of the interaction between the robot and its local environment, and then it is modeled and controlled for the motion planning purpose. Based on the optimal control of the behavior dynamics, the dynamic motion-planning problem can be transformed into a conventional optimization problem in the robot's acceleration space, and the optimal motion behavior of the mobile robot can be obtained on line. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. Stability of the whole planning-and-control system can be guaranteed. Simulations illustrate our results. {\textcopyright} 2005 IEEE.",

keywords = "motion planning, mobile robots, uncertain environment, behavior dynamics, NAVIGATION",

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

year = "2005",

doi = "10.1109/ICMECH.2005.1529284",

language = "English",

isbn = "0-7803-8998-0",

series = "Proceedings of the IEEE International Conference on Mechatronics, ICM",

publisher = "IEEE",

pages = "364--369",

booktitle = "Proceedings of the 2005 IEEE International Conference on Mechatronics",

address = "United States",

note = "2005 IEEE International Conference on Mechatronics, ICM '05 ; Conference date: 10-07-2005 Through 12-07-2005",

}

Jing, X-J & Wang, Y-C 2005, Control of behavior dynamics for motion planning of mobile robots in uncertain environments. in Proceedings of the 2005 IEEE International Conference on Mechatronics., 1529284, Proceedings of the IEEE International Conference on Mechatronics, ICM, IEEE, pp. 364-369, 2005 IEEE International Conference on Mechatronics, ICM '05, Taipei, Taiwan, China, 10/07/05. https://doi.org/10.1109/ICMECH.2005.1529284

Control of behavior dynamics for motion planning of mobile robots in uncertain environments. / Jing, Xing-Jian; Wang, Yue-Chao.
Proceedings of the 2005 IEEE International Conference on Mechatronics. IEEE, 2005. p. 364-369 1529284 (Proceedings of the IEEE International Conference on Mechatronics, ICM).

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

TY - GEN

T1 - Control of behavior dynamics for motion planning of mobile robots in uncertain environments

AU - Jing, Xing-Jian

AU - Wang, Yue-Chao

PY - 2005

Y1 - 2005

N2 - This paper provides a new approach to the dynamic motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics from an optimal control point of view. The fundamental behavior of a mobile robot in motion planning is regarded as a dynamic process of the interaction between the robot and its local environment, and then it is modeled and controlled for the motion planning purpose. Based on the optimal control of the behavior dynamics, the dynamic motion-planning problem can be transformed into a conventional optimization problem in the robot's acceleration space, and the optimal motion behavior of the mobile robot can be obtained on line. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. Stability of the whole planning-and-control system can be guaranteed. Simulations illustrate our results. © 2005 IEEE.

AB - This paper provides a new approach to the dynamic motion planning problems of mobile robots in uncertain dynamic environments based on the behavior dynamics from an optimal control point of view. The fundamental behavior of a mobile robot in motion planning is regarded as a dynamic process of the interaction between the robot and its local environment, and then it is modeled and controlled for the motion planning purpose. Based on the optimal control of the behavior dynamics, the dynamic motion-planning problem can be transformed into a conventional optimization problem in the robot's acceleration space, and the optimal motion behavior of the mobile robot can be obtained on line. No restrictions are assumed on the shape and trajectories of obstacles. Collision avoidance between multiple mobile robots can also be realized. Stability of the whole planning-and-control system can be guaranteed. Simulations illustrate our results. © 2005 IEEE.

KW - motion planning

KW - mobile robots

KW - uncertain environment

KW - behavior dynamics

KW - NAVIGATION

UR - https://www.scopus.com/pages/publications/33748895524

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-33748895524&origin=recordpage

U2 - 10.1109/ICMECH.2005.1529284

DO - 10.1109/ICMECH.2005.1529284

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0-7803-8998-0

T3 - Proceedings of the IEEE International Conference on Mechatronics, ICM

SP - 364

EP - 369

BT - Proceedings of the 2005 IEEE International Conference on Mechatronics

PB - IEEE

T2 - 2005 IEEE International Conference on Mechatronics, ICM '05

Y2 - 10 July 2005 through 12 July 2005

ER -

Control of behavior dynamics for motion planning of mobile robots in uncertain environments

Abstract

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UN SDGs

Research Keywords

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