An Integrated Architecture for Robot Motion Planning and Control in the Presence of Obstacles With Unknown Trajectories

Rob Spence, Seth Hutchinson

Research output: Contribution to journalArticlepeer-review

Abstract

We present an integrated architecture for real-time planning and control of robot motions, for a robot operating in the presence of moving obstacles whose trajectories are not known a priori. The architecture comprises three control loops: an inner loop to linearize the robot dynamics, and two outer loops to implement the attractive and repulsive forces used by an artificial potential field motion planning algorithm. From a control theory perspective, our approach is unique in that the outer control loops are used to effect both desirable transient response and collision avoidance. From a motion planning perspective, our approach is unique in that the dynamic characteristics of both the robot and the moving obstacles are considered. Several simulations are presented that demonstrate the effectiveness of the planner/controller combination.

Original languageEnglish (US)
Pages (from-to)100-110
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics
Volume25
Issue number1
DOIs
StatePublished - Jan 1995

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'An Integrated Architecture for Robot Motion Planning and Control in the Presence of Obstacles With Unknown Trajectories'. Together they form a unique fingerprint.

Cite this